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4haptic: A Dexterous 4 d.o.fs Haptic Device Based on Delta Architecture

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Computational Kinematics

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 50))

Abstract

This paper introduces a novel kinematic of 4 d.o.fs haptic device based on Delta architecture. A fourth leg is added to the Delta structure to convert translations into rotations and to provide translation of the handle allowing 3 rotations and 1 translation of the end effector. The fourth leg is linked to the base and to the moving platform by two spherical joints. The kinematic model of the new structure, called 4haptic, is presented. The novel device has a better dexterity distribution compared with previous developped master device based on spherical parallel manipulator architecture. The 4haptic device offers a singularity free useful workspace which makes it a suitable candidate to perform tele-operated Minimally Invasive surgery.

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Acknowledgements

This research is supported by ROBOTEX, the French national network of robotics platforms (N\(^\circ \) ANR-10-EQPX-44-01).

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Authors and Affiliations

  1. Department of GMSC, Pprime Institute, CNRS - University of Poitiers - ENSMA - UPR 3346, Poitiers, France

    Celestin Preault, Houssem Saafi, Med Amine Laribi & Said Zeghloul

Authors
  1. Celestin Preault
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  2. Houssem Saafi
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  3. Med Amine Laribi
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  4. Said Zeghloul
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Corresponding author

Correspondence to Celestin Preault .

Editor information

Editors and Affiliations

  1. Institut PPRIME, UPR 3346, University of Poitiers, Poitiers, France

    Saïd Zeghloul

  2. American University of Sharjah, UAE, on leave from the National School of Engineering of Sousse , Sousse Erriadh, Tunisia

    Lotfi Romdhane

  3. SP2MI, Téléport 2, University of Poitiers, Poitiers, France

    Med Amine Laribi

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Preault, C., Saafi, H., Laribi, M.A., Zeghloul, S. (2018). 4haptic: A Dexterous 4 d.o.fs Haptic Device Based on Delta Architecture. In: Zeghloul, S., Romdhane, L., Laribi, M. (eds) Computational Kinematics. Mechanisms and Machine Science, vol 50. Springer, Cham. https://doi.org/10.1007/978-3-319-60867-9_35

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  • DOI: https://doi.org/10.1007/978-3-319-60867-9_35

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-60866-2

  • Online ISBN: 978-3-319-60867-9

  • eBook Packages: EngineeringEngineering (R0)

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