Parallel kinematics for haptic feedback in three degrees of freedom: Application in a handheld laparoscopic telemanipulation system

Abstract

In this paper parallel kinematic structures are analyzed to realize a haptic joystick with three translational degrees of freedom. The Chebychev-Grübler-Kutzbach criterion is applied to determine kinematic topologies. Resulting topologies are listed comprising prismatic, rotational, universal and cylindrical joints. Furthermore restrictions are compiled to enforce pure translational behaviour. An RUU mechanism is chosen as an applicable structure and adapted to be applied in a handheld control interface for a laparoscopic telesurgical system. An algorithm has been implemented to determine workspace size and shape. Three exemplary workspace shapes are shown and the occurring actor torques are calculated using the Jacobian matrix. © 2010 Springer-Verlag.