A New Six Degree-of-Freedom Haptic Device based on the Orthoglide and the Agile Eye

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dc.creatorChablat, Damien
dc.creatorWenger, Philippe
dc.date2007-07-24
dc.date.accessioned2026-07-07T08:19:56Z
dc.date.available2026-07-07T08:19:56Z
dc.descriptionThe aim of this paper is to present a new six degree-of-freedom (dof) haptic device using two parallel mechanisms. The first one, called orthoglide, provides the translation motions and the second one produces the rotational motions. These two motions are decoupled to simplify the direct and inverse kinematics, as it is needed for real-times control. To reduce the inertial load, the motors are fixed on the base and a transmission with two universal joints is used to transmit the rotational motions from the base to the end-effector. The main feature of the orthoglide and of the agile eye mechanism is the existence of an isotropic configuration. The length of the legs and the range limits of the orthoglide are optimized to have homogeneous performance throughout the Cartesian workspace, which has a nearly cubic workspace. These properties permit to have a high stiffness throughout the workspace and workspace limits that are easily understandable by the user.
dc.identifierhttps://arxiv.org/abs/0707.3564
dc.identifierhttp://arxiv.org/abs/0707.3564
dc.identifierDans Proceedings of Virtual Concept 2005 - Virtual Concept, France (11/2005)
dc.identifier.urihttp://salesiana.dossiersoluciones.com/handle/123456789/134935
dc.subjectRobotics
dc.titleA New Six Degree-of-Freedom Haptic Device based on the Orthoglide and the Agile Eye
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