Two-Stage Optimization of a Reconfigurable Asymmetric 6-DOF Haptic Robot for Task-Specific Workspace
Changqi Zhang,Congzhe Wang,Qing Miao,Mingming Zhang,Changqi Zhang,Congzhe Wang,Qing Miao,Mingming Zhang
Parallel mechanisms (PMs) are commonly used for developing haptic devices due to low inertia, high rigidity and precision. However, limited workspace impedes their application for task-oriented robotic therapy which generally requires large motion ranges. To solve this problem, first, a PM- based reconfigurable asymmetric 6-DOF haptic interface was presented, and then a two-stage optimization meth...
