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Development of a Parallel Spherical Robotic Mechanism as a Haptic Interaction Device for Telerobotic Applications

Dinc, Hüseyin Tugcan (2020) Development of a Parallel Spherical Robotic Mechanism as a Haptic Interaction Device for Telerobotic Applications. DLR-Interner Bericht. DLR-IB-RM-OP-2020-147. Master's. Deggendorf Institute of Technology. 65 S.

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This thesis presents a novel coaxial haptic interaction device for telerobotic applications. The device is based on a 3 Degree of Freedom (DoF) spherical parallel mechanism (SPM). In comparison to existing Spherical Parallel Mechanisms, a central hollow shaft is placed inside the manipulator and hence it becomes very stiff against translational forces. Additionally, to actuate the manipulator by motors, a new Coaxial Transmission Line (CTL) is introduced. The proposed design provides a full rotation around central hollow shaft axis, hence it achieved a larger workspace and better ergonomic compared to existing ones. Moreover, the developed interface can rotate fully while preserving constant orientation. To procure the optimum design with regard to kinematic, dynamic, and mechanical stiffness properties, a multi-objective optimization task by using a genetic algorithm is accomplished considering kinematic, dynamic, and stiffness performance indices. As a consequence of the optimization task, Pareto-Front solutions are obtained. The selection of a suitable solution is made by considering interchange between manipulability-condition number and natural frequency. To unveil the corresponding stiffness values, an experimental test setup is presented. The test results confirmed the validity, by means of the role of hollow shaft, of the developed haptic interface. The developed device can be readily integrated with another manipulator, for creating macro-micro manipulator structures, such as with Light Weight Robot (LRW) or Omega.3 from Force Dimensions.

Item URL in elib:https://elib.dlr.de/137573/
Document Type:Monograph (DLR-Interner Bericht, Master's)
Title:Development of a Parallel Spherical Robotic Mechanism as a Haptic Interaction Device for Telerobotic Applications
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Date:November 2020
Refereed publication:No
Open Access:No
Number of Pages:65
Keywords:haptic interaction device, multi-objective optimization, spherical parallel mechanism
Institution:Deggendorf Institute of Technology
Department:Faculty of Applied Natural Sciences and Industrial Engineering
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Telerobotics (old), R - OOS: Virtual Reality [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Deposited By: Hulin, Dr. Thomas
Deposited On:24 Nov 2020 12:18
Last Modified:24 Nov 2020 12:18

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