A novel kinematic of a 4 d.o.fs haptic device based on the delta robot architecture

Abstract

This paper presents a novel kinematic of haptic device with 4 d.o.f for medical use. The kinematic of the proposed device is based on delta robot architecture. The challenging task was to obtain the three orientations of the tool for each Cartesian location of the mobile platform. Gimbal joints were specifically used in this purpose. The kinematic and haptic models of the new device are presented. A 3d printed prototype was developed to validate the new kinematic and present a the first conceptual design.