オルソグライドとハイブリッドアジャイルアイを用いた6自由度ハプティックデバイス
A Six Degree-Of-Freedom Haptic Device Based On The Orthoglide And A Hybrid Agile Eye
直動用のオルソグライドと回転用のアジャイルアイを組み合わせ、並進と回転を分離して逆運動学を簡素化した6自由度ハプティックデバイスを設計した論文。
著者: Damien Chablat, Philippe Wenger
分類: cs.RO
原文アブストラクト
This paper is devoted to the kinematic design of a new six degree-of-freedom haptic device using two parallel mechanisms. The first one, called orthoglide, provides the translation motions and the second one, called agile eye, produces the rotational motions. These two motions are decoupled to simplify the direct and inverse kinematics, as it is needed for real-time 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. Two alternative wrists are proposed (i), the agile eye with three degrees of freedom or (ii) a hybrid wrist made by the assembly of a two-dof agile eye with a rotary motor. The last one is optimized to increase its stiffness and to decrease the number of moving parts.
