Abstract
This paper presents the design and testing of two haptic devices, based on reconfigurable 2R joints: an active 2R spherical mechanism-based joint and a differential gear-based joint. Based on our previous works, in which the design and kinematic analysis of both reconfigurable joints were developed, the experimental setup and the various tasks intended to test the reconfigurability, precision, force feedback system and general performance, are presented herein. Two control modes for the haptic device operation are proposed and studied. The statistical analysis tools and their selection principles are described. The mechanical design of two experimental setups and the main elements are considered in detail. The Robot Operating System nodes and the topics that are used in the software component of the experimental setup are presented and explained. The experimental testing was carried out with a number of participants and the corresponding results were analyzed with the selected statistical tools. A detailed interpretation and discussion on of the results is provided.
Highlights
A haptic device is an instrument that is used to perform different kinds of manipulations with objects, providing the operator with feedback, i.e., tactile feedback, vibrational feedback, force feedback, etc
It was confirmed that the tested joints were able to provide the reconfiguration ability for the haptic devices in which they were applied
The ability for precise horizontal motion of the controlled mechanism end-effector was successfully confirmed in both control modes with functioning force feedback
Summary
A haptic device is an instrument that is used to perform different kinds of manipulations with objects, providing the operator with feedback, i.e., tactile feedback, vibrational feedback, force feedback, etc. The most widely used architectures of haptic devices are serial [2,7] parallel [6,13,14] or cable drive-based architectures [15]. Regarding the most common type of joints that are implemented in commercial robots and manipulators, universal and spherical joints are among the most widely used in parallel manipulators. They are utilized in Delta robots and Stewart–Gough platforms and in haptic devices that share a similar architecture [6,14]. Spherical joints and mechanisms have been applied in commercially available serial haptic devices. A spherical joint was applied in a haptic device with magnetorheological-based feedback in [7]
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