SHaDe, a new 3-DOF haptic device

被引：103

作者：

Birglen, L ^{[1
]}

Gosselin, C ^{[1
]}

Pouliot, N ^{[1
]}

Monsarrat, B ^{[1
]}

Laliberté, T ^{[1
]}

机构：

[1] Univ Laval, Dept Engn Mech, Quebec City, PQ G1K 7P4, Canada

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2002年 / 18卷 / 02期

基金：

加拿大自然科学与工程研究理事会;

关键词：

design optimization; force control; haptic device; parallel mechanism; spherical mechanism;

D O I：

10.1109/TRA.2002.999645

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a new type of haptic device using spherical geometry. The basic idea of haptic devices is to provide users with feedback information on the motion and/or force that he or she generates. Haptic devices have several potential applications such as, for example, fine compliant assembly, VR environment simulation, and high-precision teleoperation, especially in hazardous or hostile areas. The particular architecture of the spherical haptic device developed here will be presented and its advantages will be highlighted. Then, its basic kinematic properties, which shall be used for control and geometric optimization purposes, will be reviewed. The design optimization itself will then highlight some important features of the mechanism. The control scheme and real-time force feedback issues will then be presented. Finally, the results obtained with the prototype will be discussed.

引用

页码：166 / 175

页数：10

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