Design strategy and issues of the Delthaptic, a new 6-DOF parallel haptic device

Highlights•A 6-DOF versatile haptic device is designed, optimized, and experimentally tested.•The Delta-based architecture provides a large and singularity-free workspace.•The parallel structure has benefits such as stiffness, accuracy, or low inertia.•The design strategy meets essential transparenc...

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Veröffentlicht in:	Mechanism and machine theory 2018-10, Vol.128, p.395-411
Hauptverfasser:	Vulliez, Margot, Zeghloul, Said, Khatib, Oussama
Format:	Artikel
Sprache:	eng
Schlagworte:	Actuator selection Automatic Design strategy Engineering Sciences Haptic device Kinematic optimization Parallel mechanism
Online-Zugang:	Volltext
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