Delft Haptics Lab

Design of Haptic Devices Based on Parallel Robots

Abstract

This postdoc project was performed by Patrice Lambert, under supervision of Just Herder. The research was part of the H-Haptics Programme.

Abstract Parallel robots are mechanical systems that use several parallel kinematic chains to control a platform in force or in position. Thanks to their closed-loop structure and ground-located motors, they present very good performance in term of inertia and stiffness. This has made them increasingly popular for applications that require high mechanical transparency, such as haptic devices where the mechanical characteristics of the device should not disturb the reflected force feedback.  This project focuses on the creation, design and implementation of novel haptic interfaces based on parallel architectures as well as the development of methodologies for their synthesis and analysis. Kinematic optimisation is investigated for improved dexterity and transfer function as well as for human matched workspace and force capabilities. Design optimization is investigated for  low inertia, high stiffness, low friction, backdriveability, low backlash and gravitational counterbalancing.