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TECHNICAL PAPERS

Design of a Passively Balanced Spatial Linkage Haptic Interface

[+] Author and Article Information
R. Steger, K. Lin, H. Kazerooni

Mechanical Engineering Department, University of California, Berkeley, CA 94720

B. D. Adelstein

Human Factors Research & Technology Division, NASA Ames Research Center, Moffett Field, CA 94035

J. Mech. Des 126(6), 984-991 (Feb 14, 2005) (8 pages) doi:10.1115/1.1798111 History: Received August 12, 2003; Revised February 06, 2004; Online February 14, 2005
Copyright © 2004 by ASME
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References

Adelstein, B. D., Ho, P., and Kazerooni, H., 1996, “Kinematic design of a three degree of freedom parallel hand controller mechanism,” Proc. 5th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, ASME Dynamic Systems and Control Division, DSC-Vol. 58, New York, pp. 539–546.
Millman, P. A., and Colgate, J. E., 1991, “Design of a four degree-of-freedom force reflecting manipulandum with a specified force/torque workspace,” Proc. IEEE Conference on Robotics and Automation, Sacramento, pp. 1488–1493.
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Brandt,  G., Aimlong,  A., Carrat,  L., Merloz,  P., Staudte,  H. W., Lavallee,  S., Radermacher,  K., and Rau,  G., 1999, “CIRGOS: A compact robot for image guided orthopaedic interventions,” IEEE Trans. Inf. Technol. Biomed., 3–4, pp. 252–260.
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Figures

Grahic Jump Location
Finished three-degree-of-freedom fused deposition modeling (FDM) rapid prototype polycarbonate joystick. The actuators, power amplifiers and control electronics are all housed in the enclosure. The complete haptic device dimensions are 33 cm×25 cm×10 cm.
Grahic Jump Location
Plastic linkage assembly: each link is labeled and motor axes α, β, and γ are shown (Link 1 is the stationary base link formed by the enclosure and is not shown. This base link lies in the plane of the motor axes).
Grahic Jump Location
Simplified view of the original joystick linkage from Ref. 1. This configuration is kinematically equivalent to the new linkage design.
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The coordinate system used to describe the joystick linkage kinematics. Positive angular (α, β, and γ) and translational (x,y, and z) displacement are labeled. Actuators are labeled A, B, and Γ. The origin of the xyz coordinate frame is located at the mechanism center of the spherical portion of the linkage.
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The coordinate system used to define the link dimensions. In this example, Db is greater than zero and for base links 2, 5, and 8 the origin frame (xa*,za*) is at the mechanism center. Link pairs corresponding to linka and linkb in this diagram are 3 and 2, 4 and 5, 6 and 5, and 7 and 8, respectively. For all planar links, Lb is equal to zero.
Grahic Jump Location
CAD model close-up of the FDM plastic linkage assembly with mass-balance counterweights (shown installed in device encloser)
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CAD model of the metal implementation of spatial mechanism
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(a–c) x-y,y-x, and x-z plane views of the collision-free endpoint workspace. A rectangle, labeled A, represents the location of the alpha motor in each figure. All axes are labeled in inches. The origin in the figures is located at the mechanism center.
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Control hardware and software architecture

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