Aspects Concerning Kinetostatic Properties of Parallel Robots

Inhalt:
This paper presents a factorial analysis of the compensation of dynamic characteristics of a special class of reconfigurable haptic device. The haptic device is a reconfigurable parallel structure with having a revolute joint as actuated joint. In order to decrease the inertia and the moving mass of the mechanism this actuated joint is attached to the fixed platform of the mechanism. The haptic device interacts with a human operator by the means of its end effector. The dynamic compensation takes in consideration the mechanical properties of the robot in order to achieve a “transparent” mechanical structure. A “transparent” mechanical structure implies that forces or movements rendered through a haptic device remain unaltered due to friction, inertia or gravity (i.e. dynamic behavior) of the structure. Interaction with a virtual world has to be an immersive experience. The ‘transparent’ mechanical structure achieved by dynamic compensation facilitates the immersiveness of the haptic experience.