Abstract
The need for multi-purpose haptic devices is extensively emerging. This paper presents a novel 6-DOF versatile haptic device, the Delthaptic, with a large and singularity-free workspace. The originality of the device comes from its structure combining two Delta robots to obtain rotational and translational movements. The advantage of this type of paired parallel robots is to form 6-DOF manipulators by connecting well-known parallel structures. The paper focuses especially on the kinematic analysis of the Delthaptic. A method to evaluate the kinematics of paired parallel robots is described. The approach allows evaluating the full robot kinematics by considering each parallel manipulator separately. Then, the behavior of the device along its workspace is highlighted by a singularity analysis.
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