Design of a new 6-DOF parallel haptic device

In this paper, a new 6-DOF parallel haptic master device is proposed. Many existing haptic devices require large power due to having floating actuator and also have small workspaces. The proposed new mechanism is relatively light, as it employs nonfloating actuators and has large workspace. Kinematic analysis and kinematic optimal design problem is performed for this mechanism. Dexterous workspace, global isotropic index, and global maximum force transmission ratio are considered as kinematic design indices. To deal with such multicriteria optimization problem, composite design index is employed. Actuator sizing for this mechanism is also carried out.