Kinematic Analysis of the Delthaptic, a New 6-DOF Haptic Device

  • Margot VulliezEmail author
  • Said Zeghloul
  • Oussama Khatib
Part of the Springer Proceedings in Advanced Robotics book series (SPAR, volume 4)


The need for multi-purpose haptic devices is extensively emerging. This paper presents a novel 6-DOF versatile haptic device, the Delthaptic, with a large and singularity-free workspace. The originality of the device comes from its structure combining two Delta robots to obtain rotational and translational movements. The advantage of this type of paired parallel robots is to form 6-DOF manipulators by connecting well-known parallel structures. The paper focuses especially on the kinematic analysis of the Delthaptic. A method to evaluate the kinematics of paired parallel robots is described. The approach allows evaluating the full robot kinematics by considering each parallel manipulator separately. Then, the behavior of the device along its workspace is highlighted by a singularity analysis.


Kinematics 6-DOF haptic device Singularity Parallel manipulator 


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Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  1. 1.PPRIME Institute CNRS, University of Poitiers, ENSMA, UPR 3346PoitiersFrance
  2. 2.A.I. Lab, Stanford UniversityStanfordUSA

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