A friction differential and cable transmission design for a 3-DOF haptic device with spherical kinematics

We present a new mechanical design for a 3-DOF haptic device with spherical kinematics (pitch, yaw, and prismatic radial). All motors are grounded in the base to decrease inertia and increase compactness near the user's hand. An aluminum-aluminum friction differential allows for actuation of pi...

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Bibliographic Details
Published in2011 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 2570 - 2577
Main Authors Brewer, R., Leeper, A., Salisbury, J. K.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2011
Subjects
Force
Friction
Haptic interfaces
Kinematics
Mechanical cables
Torque
Wheels
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Summary:We present a new mechanical design for a 3-DOF haptic device with spherical kinematics (pitch, yaw, and prismatic radial). All motors are grounded in the base to decrease inertia and increase compactness near the user's hand. An aluminum-aluminum friction differential allows for actuation of pitch and yaw with mechanical robustness while allowing a cable transmission to route through its center. This novel cabling system provides simple, compact, and high-performance actuation of the radial DOF independent of motions in pitch and yaw. We show that the device's capabilities are suitable for general haptic rendering, as well as specialized applications of spherical kinematics such as laparoscopic surgery simulation.
ISBN:1612844545
9781612844541
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2011.6094796