Eventos Anais de eventos
COBEM 2023
27th International Congress of Mechanical Engineering
Comparative study of haptic interfaces with parallel and serial kinematic configuration
Submission Author:
Walter de Britto Vidal Filho , DF , Brazil
Co-Authors:
Liz Carolina Costato, Walter de Britto Vidal Filho
Presenter: Walter de Britto Vidal Filho
doi://10.26678/ABCM.COBEM2023.COB2023-1003
Abstract
Haptic interfaces are devices for computer inputting and outputting data. They are used through softwares that need to obtain the three-dimensional movement of the user's hand and return sensations of strength. This technology was developed for computer games, but is currently being used for teleoperation of robotic arms and simulators as well. The concept of manipulator teleoperation is old and comes from the first mechanical telemanipulators used in the nuclear industry in the 1950s. In these pioneering projects, the “master manipulator”, which is moved by the user, transmits the movements through bars and cables mechanisms to the “slave manipulator", which exactly reproduces the action. With the advent of digital electronics technology, master interfaces were developed to remotely command the teleoperated manipulator. Currently, haptic interfaces can be the master manipulator in teleoperation, even if their structural configuration is not similar to the slave manipulator. Aiming at the development of a haptic interface, two configurations were studied: a parallel configuration, also called closed kinematic chain, and a serial configuration, also called open kinematic chain. The configuration activated by cables was chosen among the open ones using cables as connecting links. This kind of structure has low movement inertia. For the serial configuration, the traditional articulated configuration was selected. In this structure, the interface resembles a small articulated manipulator. Its links are rigid and connected in series. In order to simplify the analysis, two-dimensional systems were modeled and simulated. Two prototypes were built and tested, aiming to explore both configurations under study. Matlab software was used to read and calculate the precision of the end-effector positioning. For each structure, different position sensors were studied, including potentiometers and encoders. Tests and assemblies will be described, in addition to the observed advantages and disadvantages of each developed prototype, in terms of functionality as well as costs.
Keywords
Haptic, comparative study, struture
