ANALYTICAL DYNAMIC ANALYSIS OF A KINESTHETIC HAPTIC DEVICE

Öz

A hybrid-structured kinesthetic haptic device based on an R-CUBE mechanism and a serial spherical wrist mechanism is considered in this article. This device is designed to simulate pointtype contacts on the user. Hence, only three-dimensional forces are simulated to the user through the R-CUBE mechanism. This paper presents the quasi-static force analysis, gravity compensation calculations and dynamic analysis of the R-CUBE mechanism to serve for better understanding the capabilities of the mechanism and to be used in haptics controller development in the future studies. Making use of the derived dynamic equations, torque requirements from the actuators are examined for use in the haptic application scenarios

Anahtar Kelimeler

• Haptics, Parallel Mechanisms, Dynamics

BİR KİNESTETİK HAPTİK CİHAZIN DİNAMİK ANALİZİ

Öz

Bu makalede R-CUBE mekanizması ve seri küresel bilek mekanizmasını temel alan bir hibrit-yapılı kinestetik haptik cihaz üzerinde durulmuştur. Cihaz noktasal teması kullanıcıya hissettirmesi için tasarlanmıştır. Dolayısı ile, sadece üç-boyutlu kuvvetler kullanıcıya R-CUBE mekanizması üzerinden iletilmiştir. Bu makale, mekanizmanın kabiliyetinin daha iyi anlaşılması ve ilerideki çalışmalarda haptik denetleyicisinde kullanılması için, RCUBE mekanizmasının yarı-statik kuvvet analizini, yerçekimi etkisi telafisi hesaplarını ve dinamik analizini sunmaktadır. Çıkarılan dinamik denklemler kullanılarak haptik uygulama senaryolarında gerekli eyleyici torkları incelenmiştir

Anahtar Kelimeler

• Haptik, Paralel Mekanizmalar, Dinamik

Kaynakça

1. Clark, F. J., Horch, K. W., Bach, S. M., Larson, G. F. 1979. Contribution of Cutaneous and Joint Receptors to Static Knee-Position Sense in Man, Journal of Neurophysiology, 42(3), 877-888.
2. Hannford, B. and Okamura, A.M. 2008. Haptics. pp 719-735. Siciliano, B. and Khatib, O., ed. 2008. Springer Handbook of Robotics, Springer- Verlag, Germany, 1611p.
3. Adams, R. J., Hannaford, B. 1999. Stable Haptic Interaction with Virtual Transactions on Robotics and Automation, 15, 465-473.
4. IEEE [4] Guo, Shuxiang, Mingyang Qin, Nan Xiao, Yuan Wang, Weili Peng, and Xianqiang Bao. "High precise haptic device for the robotic catheter navigation system." In Mechatronics and Automation (ICMA), 2016 IEEE International Conference on, pp. 2524-2529. IEEE, 2016.
5. Parent, Q. U. E. N. T. I. N., and J. E. R. O. M. E. Perret. "Usability of a large- scale force-feedback device in different immersive environments." In EuroVR Conference. 2016.
6. Guo, Shuxiang, Miao Yu, Yu Song, and Linshuai Zhang. "The virtual reality simulator-based catheter training system with haptic feedback." In Mechatronics
7. (ICMA), 2017 IEEE International Conference on, pp. 922-926. IEEE, 2017.
8. Automation [7] Van der Linde, Richard Q., Piet Lammertse, Erwin Frederiksen, and B. Ruiter. "The HapticMaster, a new high-performance haptic interface." In Proc. Eurohaptics, pp. 1-5. 2002.

9. Arbuckle, Troy K., Manikantan Nambi, Jonathan E. Butner, William R. Provancher, and Jake J. Abbott. "Human
10. admittance-type robotic devices with scaled visual feedback of device motion." IEEE Transactions on Human-Machine Systems 46, no. 6 (2016): 859-868. control of [9] 3D Systems Touch
11. Haptic. https://www.3dsystems.com/hapti cs-devices/geomagic-touch (Accessed on 30.11.2017).
12. Martin, S., Hillier, N. 2009. Characterisation of the Novint Falcon haptic device for application as a robot manipulator, Australasian Conference
13. Automation, 2-4 December, Sidney, Australia, 291-292. and [12] Li, W., Gao, F., Zhang, J. 2005. R- CUBE,
14. Manipulator only with Revolute Joints, Mechanism and Machine Theory, 40, 467-473.
15. Saafi, Houssem, Med Amine Laribi, and Said Zeghloul. "Redundantly actuated 3-RRR spherical parallel manipulator used as a haptic device: improving dexterity and eliminating singularity." Robotica 33, no. 5 (2015): 1113-1130.
16. Bilgincan, T., Dede, M.İ.C. 2010. Development of an R-CUBE Based General Purpose Haptic Device System, ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, 12-14 July İstanbul, 675-682.
17. Dede, M.İ.C., Taner, B., Bilgincan, T. Ceccarelli M. 2014. Kinematic Analysis Validation and Calibration of a Haptic Interface, pp 375-381. M. Ceccarelli, V. Glazunov, ed. 2014. Advances on Theory and Practice of Robots
18. Mechanisms and Machine Science, Volume 22, Springer, Dordrecht, Netherlands, 573p.
19. Boztaş, S., Taner, B., Karabulut, M.G., Dede, M.İ.C. 2014. Haptik Cihazlarda Yer Çekimi Telafisinin Kullanıcı Performansı Üzerindeki Etkileri, Türkiye Otomatik Kontrol Komitesi Toplantısı, 11-13 Eylül, Kocaeli, 361- 365.
20. Tan, H.Z., Srinivasan, M.A., Eberman, B., Cheng, B. 1994. Human factors for the Design of Force-Reflecting Haptic Interfaces, Dynamic Systems and Control, 55(1), 353-359.