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Proceedings Paper

Development of a 3D haptic spherical master manipulator based on MRF actuators
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Paper Abstract

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.

Paper Details

Date Published: 21 March 2019
PDF: 10 pages
Proc. SPIE 10967, Active and Passive Smart Structures and Integrated Systems XIII, 109671Q (21 March 2019); doi: 10.1117/12.2515333
Show Author Affiliations
Ngoc Diep Nguyen, Industrial Univ. of Ho Chi Minh City (Viet Nam)
Thuy Duy Truong, Vietnamese-German Univ. (Viet Nam)
Duy Hung Nguyen, Vietnamese-German Univ. (Viet Nam)
Dai Hiep Le, Vietnamese-German Univ. (Viet Nam)
Quoc Hung Nguyen, Vietnamese-German Univ. (Viet Nam)


Published in SPIE Proceedings Vol. 10967:
Active and Passive Smart Structures and Integrated Systems XIII
Alper Erturk, Editor(s)

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