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Design, modelling and implementation of a 6 URS parallel haptic device

Abstract:

Tactile exploration of remote or virtual environments needs a mechanical interface that allows the operator to interact with the remote zone. Parallel platforms offer advantages that make them suitable for working as master devices in a bilateral teleoperation scheme. This paper proposes the modification of a 6 UPS Gough-Steward platform by interchanging the linear actuators by cable-driven pantographs with rotational electric actuators in order to improve the workspace and output bandwidth. The paper presents the mechanical design, the geometric and dynamic model, and control algorithms of a 6 URS platform developed to be used either as an impedance display that reads the position of the operator and reflects force or as an admittance display that reads the Cartesian forces and reflects positions. © 2004 Elsevier B.V. All rights reserved.