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http://dx.doi.org/10.5302/J.ICROS.2003.9.1.063

A New 6-DOF Parallel Haptic Device: Optimum Design and Analysis  

이재훈 (한양대학교)
김형욱 (한양대학교)
이병주 (한양대학교)
서일홍 (한양대학교)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.9, no.1, 2003 , pp. 63-72 More about this Journal
Abstract
A new 6-DOF parallel haptic device is proposed. Many existing haptic devices require large power due to having floating actuator and also have small workspaces. The proposed new mechanism can generate 6-DOF reflecting force. This device is relatively light by employing non-floating actuators and has large workspace. Kinematic analysis and kinematic optimal design 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. For the given operational specifications, actuator sizing for this mechanism is also carried out.
Keywords
haptic device; parallel mechanism; optimum design;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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