A Six Degree-Of-Freedom Haptic Device Based On The Orthoglide And A Hybrid Agile Eye

TL;DR

This paper introduces a novel six-degree-of-freedom haptic device combining orthoglide translation mechanisms with a hybrid agile eye rotational mechanism, emphasizing decoupled kinematics and reduced inertial load for improved control.

Contribution

It presents a new kinematic design integrating orthoglide and agile eye mechanisms, including a hybrid wrist optimized for stiffness and simplicity.

Findings

Decoupled kinematics for real-time control

Reduced inertial load via fixed motors and transmission

Two alternative wrist configurations proposed

Abstract

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.