A Six Degree-Of-Freedom Haptic Device Based On The Orthoglide And A Hybrid Agile Eye - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2006

A Six Degree-Of-Freedom Haptic Device Based On The Orthoglide And A Hybrid Agile Eye

Résumé

This paper is devoted to the kinematic design of a new six degree-of-freedom haptic device using two parallel mechanisms. The first one, called orthoglide, provides the translation motions and the second one, called agile eye, produces the rotational motions. These two motions are decoupled to simplify the direct and inverse kinematics, as it is needed for real-time control. To reduce the inertial load, the motors are fixed on the base and a transmission with two universal joints is used to transmit the rotational motions from the base to the end-effector. Two alternative wrists are proposed (i), the agile eye with three degrees of freedom or (ii) a hybrid wrist made by the assembly of a two-dof agile eye with a rotary motor. The last one is optimized to increase its stiffness and to decrease the number of moving parts.
Fichier principal
Vignette du fichier
DETC2006-99065.pdf (426.73 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-00164992 , version 1 (24-07-2007)

Identifiants

Citer

Damien Chablat, Philippe Wenger. A Six Degree-Of-Freedom Haptic Device Based On The Orthoglide And A Hybrid Agile Eye. IDETC, 2006, Philadelphie, United States. pp.1-8. ⟨hal-00164992⟩
182 Consultations
255 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More