11 April 2017 Design of a 7-DOF slave robot integrated with a magneto-rheological haptic master
Author Affiliations +
In this study, a 7-DOF slave robot integrated with the haptic master is designed and its dynamic motion is controlled. The haptic master is made using a controllable magneto-rheological (MR) clutch and brake and it provides the surgeon with a sense of touch by using both kinetic and kinesthetic information. Due to the size constraint of the slave robot, a wire actuating is adopted to make the desired motion of the end-effector which has 3-DOF instead of a conventional direct-driven motor. Another motions of the link parts that have 4-DOF use direct-driven motor. In total system, for working as a haptic device, the haptic master need to receive the information of repulsive forces applied on the slave robot. Therefore, repulsive forces on the end-effector are sensed by using three uniaxial torque transducer inserted in the wire actuating system and another repulsive forces applied on link part are sensed by using 6-axis transducer that is able to sense forces and torques. Using another 6-axis transducer, verify the reliability of force information on final end of slave robot. Lastly, integrated with a MR haptic master, psycho-physical test is conducted by different operators who can feel the different repulsive force or torque generated from the haptic master which is equivalent to the force or torque occurred on the end-effector to demonstrate the effectiveness of the proposed system.
© (2017) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Yong-Hoon Hwang, Seung-Woo Cha, Seok-Rae Kang, and Seung-Bok Choi "Design of a 7-DOF slave robot integrated with a magneto-rheological haptic master", Proc. SPIE 10164, Active and Passive Smart Structures and Integrated Systems 2017, 101641Q (11 April 2017); doi: 10.1117/12.2258712; https://doi.org/10.1117/12.2258712


The TACOM-USU intelligent mobility program
Proceedings of SPIE (September 01 2004)
Optimal motion control for teleoperated surgical robots
Proceedings of SPIE (December 20 1993)
Design Of A Robotic Locating System
Proceedings of SPIE (January 16 1985)
Cooperative Integration Of Vision And Touch
Proceedings of SPIE (February 28 1990)
Case for sensorless robots
Proceedings of SPIE (October 12 1998)

Back to Top