This research focuses on development of 3-DOF haptic master manipulator featuring Magneto-rheological brakes (MRBs) and a mechanism of spherical manipulator. The haptic manipulator is composed of a spherical manipulating mechanism integrated with 3 MR brakes. The first MRB is a rotary disc-type MRB employed at the waist joint to feedback the tangent force in the horizontal plane, the second MRB is also a rotary disc-type MRB employed at the shoulder joint to feedback the tangent force in the elevation plane, and the third MRB is a linear MRB employed at the prismatic joint to feedback the normal force (approach force). Position of the manipulator’s end-effector is measured by two rotary encoders and an LVDT. After the introduction, a configuration and working principle of the 3-DOF haptic spherical manipulator are presented. Mathematical models of the manipulator are then derived. The MRBs are then optimally designed to provide a required force feedback to the operator. A prototype haptic manipulator is then manufactured and its performance characteristics are then experimentally investigated.
Ngoc Diep Nguyen, Thuy Duy Truong, Duy Hung Nguyen, Dai Hiep Le, and Quoc Hung Nguyen, "Development of a 3D haptic spherical master manipulator based on MRF actuators," Proc. SPIE 10967, Active and Passive Smart Structures and Integrated Systems XIII, 109671Q (Presented at SPIE Smart Structures + Nondestructive Evaluation: March 07, 2019; Published: 21 March 2019); https://doi.org/10.1117/12.2515333.
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