TY - JOUR
T1 - A 7-DOF redundantly actuated parallel haptic device combining 6-DOF manipulation and 1-DOF grasping
AU - Lambert, Patrice
AU - Herder, Just L.
PY - 2019
Y1 - 2019
N2 - Parallel manipulators are often used in haptic applications since they usually offer higher stiffness and lower inertia than their serial counterparts. However, classical parallel haptic devices generally do not provide grasping capabilities since all their motors are located at the base. This article presents a new 7-DOF robotic architecture, which has the particularity of providing 1-DOF grasping in addition to 6-DOF manipulation while all actuators are located at the base. This is possible thanks to the use of a novel configurable platform that replaces the single rigid body normally used as end-effector in conventional parallel manipulators. The grasping capability of this haptic device is part of the mechanical architecture itself and can be fully controlled from base-located motors. In this article, the architecture, kinematic analysis, kinematic performance, design, and implementation of the novel 7-DOF parallel haptic device are described.
AB - Parallel manipulators are often used in haptic applications since they usually offer higher stiffness and lower inertia than their serial counterparts. However, classical parallel haptic devices generally do not provide grasping capabilities since all their motors are located at the base. This article presents a new 7-DOF robotic architecture, which has the particularity of providing 1-DOF grasping in addition to 6-DOF manipulation while all actuators are located at the base. This is possible thanks to the use of a novel configurable platform that replaces the single rigid body normally used as end-effector in conventional parallel manipulators. The grasping capability of this haptic device is part of the mechanical architecture itself and can be fully controlled from base-located motors. In this article, the architecture, kinematic analysis, kinematic performance, design, and implementation of the novel 7-DOF parallel haptic device are described.
KW - Configurable platform
KW - Haptic devices
KW - Haptic grasping
KW - Kinematics
KW - Redundant parallel robots
UR - http://www.scopus.com/inward/record.url?scp=85059783503&partnerID=8YFLogxK
U2 - 10.1016/j.mechmachtheory.2019.01.002
DO - 10.1016/j.mechmachtheory.2019.01.002
M3 - Article
AN - SCOPUS:85059783503
SN - 0094-114X
VL - 134
SP - 349
EP - 364
JO - Mechanism and Machine Theory
JF - Mechanism and Machine Theory
ER -