Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Analysis and Design of a New 6-DOF Haptic Device Using a Parallel Mechanism

병렬구조를 이용한 새로운 6 자유도 역감제시장치의 설계 및 해석

  • Yoon, Jung-son (Dept. of Mechatronics, Gwangju Institute of Science and Technology) ;
  • Ryu, Je-Ha (Dept. of Mechatronics, Gwangju Institute of Science and Technology)
  • 윤정원 (광주과학기술원 기전공학과) ;
  • 류제하 (광주과학기술원 기전공학과)
  • Published : 2001.01.01

Abstract

This paper presents design and analysis of a 6 degree-of-freedom new haptic device using a par-allel mechanism for interfacing with virtual reality. The mechanism is composed of three pantograph mecha-misms that, driven by ground-fixed servomotors. stand perpendicularly to the base plate. Three spherical joints connect the top of the pantograph with connecting bars, and three revolute joint connect connecting bars with a mobile joystick handle. Forward and inverse kinematic analyses have been performed and the Jacobian matrix is derived by using the screw theroy. Performance indices such as GPI(Global Payload Index), GCI(Global Conditioning index), Traslation and Orientation workspaces, and Sensitivity are evaluated to find optimal pa-rameters in the design stage. The proposed haptic mechanism has better load capability than those of the ex-isting haptic mechanisms due to the fact that motors are fixed at the base. It has also wider orientation work-space mainly due to RRR type spherical joints.

Keywords

File

Download PDF

References

  1. G. C. Burdea and P. Coiffet, Virtual Reality Technology, John wiley &sons, New York City, 1994
  2. K. Warwick, J. Gray, and D. Roberts, Virtual Reality in Engineering, The Institution of Electrical Engineering, London, UK, 1993
  3. R. S. Kalawsky, The science of Virtual Reality and Virtual Environments, Addison Wesley Pub. Co., 1993
  4. G. C. Burdea, Force and Touch Feedback for Virtual Reality, John Wiley & Sons, NY, 1996
  5. 최한호, 'Haptic 인터페이스 현황,' 전기공학회지, 제 25 권, 제 2 호, pp. 148-155, 1998. 2
  6. G. L. Long and C. L. Collins, 'A pantograph Inkage prallel patform mster hnd cntroller for frce-rflection,' Proc. IEEE Int. Conf. on Robotics and Automation, pp. 390-396, 1992 https://doi.org/10.1109/ROBOT.1992.220308
  7. H. Iwata, 'Artificial rality with frce fedback: Dlopment of dktop vtual sace with cmpact mster mnipluator,' Computer Graphics, vol. 24, no. 4, pp. 165-170, 1990 https://doi.org/10.1145/97880.97897
  8. 진병대, 우기영, 권동수, '5각 관절 병렬 구조를 이용한 6자유도 힘 반사형 마스터 콘트롤러,' 제어.자동화.시스템공학 논문지, 제5권, 제3호, pp. 288-296, 1999. 4
  9. Y. Tsumaki, H. Naruse, D. N. Nenchev, and M. Uchiyama, 'Design of a compact 6-DOF haptic interface,' Proc. IEEE Int. Conf. on Robotics and Automation, pp. 2580-2585, 1998 https://doi.org/10.1109/ROBOT.1998.680730
  10. P. A. Millman, M. Stanley, and J. E. Colgate, 'Design of a high performance haptic interface to virtual environments,' IEEE VRAIS '93, pp. 208-216, 1993 https://doi.org/10.1109/VRAIS.1993.380775
  11. 김정태, 김문생, '6 자유도 조작장치의 설계와 기구학적 특성에 관한 연구,' 대한기계학회논문집, A권, 제21권, 제2호, pp. 467-475, 1996
  12. V. Kumar, 'Instantaneous kinematics of parallel-chain robotic mechanism,' ASME J. Mechanical Design, vol. 114, no. 3, pp. 349-358, 1992
  13. C. L. Collins and G. L. Long, 'The singularity analysis of an in-parallel hand controller for force-reflected teleoperation,' IEEE Trans. on Robotics and Automation, vol. 11, no. 5, pp. 661-669, 1995. 10 https://doi.org/10.1109/70.466600
  14. P. Fischer, R. Daniel, and K. V. Siva, 'Specification and design of input devices for teleoperation,' Proceedings of the IEEE International Conference on Robotics and Automation, pp. 540-545, 1990 https://doi.org/10.1109/ROBOT.1990.126036
  15. H. Ozaki, H. Wang, X. Liu, and F. Gao, 'The atlas of the payload capability for design of 2-DOF planar parallel manipulators, 'Proc. IEEE Int. Conf. on Robotics and Automation, pp. 1483-1487, 1996 https://doi.org/10.1109/ICSMC.1996.571364
  16. C. Gosselin and J. Angeles, 'A global performance index for the kinematic optimization of robotic manipulators,' Transactions of The ASME , vol. 113, pp. 220-226, 1991
  17. K. W. Grace and J. E. Colgate, 'A six degree-of freedom micromanipulator for ophthalmic surgery,' IEEE, pp. 630-633, 1993 https://doi.org/10.1109/ROBOT.1993.292049
  18. I. A. Bonev and J. Ryu, 'A new approach to orientation workspace analysis of 6-DOF parallel manipulators,' Mechanism and Machine Theory, to appear 2000 https://doi.org/10.1016/S0094-114X(00)00032-X
  19. C. F. Gerald and P. O. Wheatley, Applied Numerial Analysis, Addsion Wesley Pub. Co., 1994
  20. 김점구, 홍금식, 박종우, 김종원, '병렬형 공작기계의 조작성 해석:기구부 최적설계에 적용,' 한국정밀공학회지, 제16권, 제11호, pp. 213-222, 1999