Design , Fabrication , and Evaluation of a New Haptic Device Using a Parallel Mechanism

This paper present design, fabrication, and evaluation of a new 6 degree-of-freedom haptic device for interfacing with virtual reality by using a parallel mechanism. The mechanism is composed of three pantograph mechanisms that are driven by ground-fixed servomotors, three spherical joints between the top of the pantograph mechanisms and the connecting bars, and three revolute joints between the connecting bars and a mobile joystick handle. Forward and inverse kinematic analyses have been performed and the Jacobian matrix is derived. Performance indices such as GPI (Global Payload Index), GCI (Global Conditioning index), Translation and Orientation workspaces, and Sensitivity are evaluated to find optimal parameters in design stage. The proposed haptic mechanism has better load capability (low inertia, high bandwidth, etc) than those of the pre-existing haptic mechanisms due to the fact that motors are fixed at the base. It has also wider orientation workspace mainly due to a RRR type spherical joint. A control method is presented with gravity compensation and with force feedback by a F/T sensor to compensate for the effects of unmodeled dynamics such as friction and inertia. Also, dynamic performance has been evaluated for force characteristics such as maximum applicable force, static-friction force, minimum controllable force, and force bandwidth by experiments. Virtual wall simulation with the developed haptic device has been demonstrated.