Design and analysis of a new 7-DOF parallel type haptic device: PATHOS-II
نویسندگان
چکیده
N OT CO PY Design and Analysis of a New 7-DOF Parallel Type Haptic Device : PATHOS-II Keehoon Kim Wan Kyun Chung Dept. of Mechanical Engineering, Pohang University of Science and Technology(POSTECH), Pohang, Korea Tel : +82-54-279-2844, Fax : +82-54-279-5899, E-mail : fkhk,[email protected] Abstract Most tele-operation to manipulate an object consists of gripping and manipulation and two or more 6-DOF haptic devices in master side are usually used. In this article, a new simply designed 7-DOF haptic device, PATHOS II is proposed for 1-DOF gripping and 6-DOF manipulation. The merits of a parallel type haptic device such as high sti ness and accuracy are natural characteristics of PATHOS-II with optimized workspace. Due to its unique symmetric structure, the isotropic manipulability is enhanced within the reachable workspace. This parallel type haptic device can be used in applications which need high resolution, sti ness and isotropic manipulability.
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