새로운 6자유도 병렬형 햅틱 기구의 최적설계 및 해석

Abstract

A new 6-DOF parallel haptic device is proposed. Many existing haptic devices require large power due to having floating actuator and also have small workspaces. The proposed new mechanism can generate 6-DOF reflecting force. This device is relatively light by employing nonfloating actuators and has hrge workspace. Kinematic analysis and kinematic optimal design is performed for this mechanism. Dexterous workspace, global isotropic index, and global maximum force transmission ratio are considered as kinematic design indices. To deal with such multi-criteria optimization problem, composite design index is employed. For the given operational specifications, actuator sizing for this mechanism is also carried out.