Design strategy and issues of the Delthaptic, a new 6-DOF parallel haptic device

Margot Vulliez (1) , Said Zeghloul (2) , Oussama Khatib (3)

1 PPrime [Poitiers] - Institut Pprime [UPR 3346]
2 RoBioSS - Robotique, Biomécanique, Sport, Santé [Institut Pprime]
3 Stanford Robotics Lab [Stanford]

The design of an optimal and versatile haptic device should enable human to achieve complex remote tasks in a safe and ergonomic environment. The paper presents a design strategy applied to the development of the Delthaptic, a new 6-DOF parallel haptic device. The Delthaptic is based on a coupled-parallel structure. It combines two Delta robots, linked to the two extremities of the customized ball-screw handle, to obtain its 6 degrees of freedom. The proposed haptic device provides a large and singularity-free workspace while keeping the benefits of parallel mechanisms. The design process first consists in a phase of structural design where the mechanical architecture is defined in order to meet requirements. During a second step, the parameters of this architecture are optimized by minimizing objective functions based on desired kinematic performances. Then, a generic procedure is proposed to select the ac-tuation with respect to dynamic capability-based criteria as well as technological aspects. Actuators and transmission systems are chosen for the Delthaptic. A prototype of the haptic device is built to experimentally assess its mechanical functioning and check the design requirements.

Mots clés: Haptic device; parallel mechanism; design strategy; kinematic optimization; actuator selection

Domaines: Automatique / Robotique

Margot Vulliez, Said Zeghloul, Oussama Khatib. Design strategy and issues of the Delthaptic, a new 6-DOF parallel haptic device. Mechanism and Machine Theory, 2018, 128, pp.395-411. ⟨10.1016/j.mechmachtheory.2018.06.015⟩. ⟨hal-01964675⟩