Design of a new 6-dof parallel haptie device

J. H. Lee, K. S. Eom, B. J. Yi, I. H. Suh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

24 Citations (Scopus)

Abstract

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 by employing non-floating 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 multi-criteria optimization problem, composite design index is employed. Actuator sizing for this mechanism is also carried out.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages886-891
Number of pages6
DOIs
StatePublished - 2001 Sep 15
Event2001IEEE International Conference on Robotics and Automation (ICRA) - Seoul, Korea, Republic of
Duration: 2001 May 212001 May 26

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume1
ISSN (Print)1050-4729

Other

Other2001IEEE International Conference on Robotics and Automation (ICRA)
CountryKorea, Republic of
CitySeoul
Period01/05/2101/05/26

Fingerprint

Kinematics
Actuators
Composite materials
Optimal design

Keywords

  • Haptic device
  • Optimal design
  • Parallel mechanism

Cite this

Lee, J. H., Eom, K. S., Yi, B. J., & Suh, I. H. (2001). Design of a new 6-dof parallel haptie device. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 886-891). (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 1). https://doi.org/10.1109/ROBOT.2001.932662
Lee, J. H. ; Eom, K. S. ; Yi, B. J. ; Suh, I. H. / Design of a new 6-dof parallel haptie device. Proceedings - IEEE International Conference on Robotics and Automation. 2001. pp. 886-891 (Proceedings - IEEE International Conference on Robotics and Automation).
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Lee, JH, Eom, KS, Yi, BJ & Suh, IH 2001, Design of a new 6-dof parallel haptie device. in Proceedings - IEEE International Conference on Robotics and Automation. Proceedings - IEEE International Conference on Robotics and Automation, vol. 1, pp. 886-891, 2001IEEE International Conference on Robotics and Automation (ICRA), Seoul, Korea, Republic of, 01/05/21. https://doi.org/10.1109/ROBOT.2001.932662

Design of a new 6-dof parallel haptie device. / Lee, J. H.; Eom, K. S.; Yi, B. J.; Suh, I. H.

Proceedings - IEEE International Conference on Robotics and Automation. 2001. p. 886-891 (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 1).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Lee JH, Eom KS, Yi BJ, Suh IH. Design of a new 6-dof parallel haptie device. In Proceedings - IEEE International Conference on Robotics and Automation. 2001. p. 886-891. (Proceedings - IEEE International Conference on Robotics and Automation). https://doi.org/10.1109/ROBOT.2001.932662