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首页> 外文会议>Mechatronics, 2009. ICM 2009 >A design approach for a new 6-DoF haptic device based on parallel kinematics
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A design approach for a new 6-DoF haptic device based on parallel kinematics

机译：基于并行运动学的新型六自由度触觉设备的设计方法

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This paper presents an approach to a methodology for design, analysis and optimization of haptic devices. This approach roughly divides the design process into; device requirements, conceptual design, device design, control design and finally building a prototype of the device. In addition, we have applied the first two phases of this methodology, i.e. device requirements and conceptual design on the development of a new 6-DoF haptic device. The intended application area for this device is medical simulations and this research is one important component towards achieving manipulation capabilities and force/torque feedback in six degrees of freedom during medical simulations. Three candidate concepts, all based on parallel kinematic structures, have been investigated and analyzed. The performance parameters being analyzed have covered workspace analysis and force/torque requirements to fulfill the specified TCP force performance. The initial analysis of these three concepts has shown, after a smaller modification of one of the concepts that all concepts seem to satisfy the initially stated requirements.
机译：本文提出了一种用于触觉设备的设计，分析和优化的方法论方法。这种方法将设计过程大致分为两个部分：设备要求，概念设计，设备设计，控制设计，最后构建设备原型。此外，我们已将此方法的前两个阶段应用到新的6自由度触觉设备的开发中，即设备要求和概念设计。该设备的预期应用领域是医学仿真，这项研究是在医学仿真过程中实现六个自由度的操纵功能和力/扭矩反馈的重要组成部分。已经研究和分析了全部基于并行运动学结构的三个候选概念。被分析的性能参数涵盖了工作空间分析和力/扭矩要求，以实现指定的TCP力性能。对这三个概念的初步分析显示，在对其中一个概念进行较小的修改之后，所有概念似乎都满足最初提出的要求。

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