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Development of a new 3T1R type cable-driven haptic device

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Abstract

In this work, structural synthesis of lower-mobility cable-driven parallel mechanisms (CDPMs) is conducted to clearly identify all feasible structures of the lower-mobility CDPMs with n-degrees-of-freedom, which are driven by n +1 cables fixed on the ground. Through the synthesis, geometric information of various and some new promising structures of unconstrained and constrained lower-mobility CDPMs such as actuation cable wrenches, cable position vector, and required constraint wrenches, are successfully extracted. Then a promising 3T1R type CDPM structure is selected to develop as a haptic device. Its position analysis is conducted and its input-to-output force model is derived. Also, its feasible workspace and its input-to-output force transmission characteristics are examined. Then a prototype haptic device is implemented which is controlled by Raspberry Pi microprocessors. Through a virtual wall following operation by the operator, its operational capability as a haptic device is verified.

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Abbreviations

d F :

Dimension of independent cable force vectors

d M :

Dimension of independent moment vectors

d FC :

Dimension of force constraints

d MC :

Dimension of moment constraints

F :

External force vector

F c :

Constraint force wrench

F g :

Weight vector of the moving body

F K :

Spring force vector

F U :

External wrench

f :

Input cable force vector, (f, f2 … fn+1)T

f i :

Magnitude of the i-th cable force

\({{\hat f}_i}\) :

Unit vector of the i-th cable force vector

M :

External moment vector

M c :

Constraint moment wrench

pTqR :

p-DOF translational and q-DOF rotational output motion

R z :

Rotational motion about the z axis

r i :

Magnitude of the position vector to the i-th cable force axis \(\left( {{{\vec r}_i} = {r_i}{{\hat r}_i}} \right)\)

\({{\hat r}_i}\) :

Unit vector along the i-th cable force axis

\({{\vec r}_{cg}}\) :

Position vector from the origin of the output frame to the center of gravity of the moving body

\({{\vec r}_{ck}}\) :

Position vector from the origin of the output frame to the axis of the spring

T z :

Translational motion along the z axis

\(\hat x,\hat y,\hat z\) :

Unit base vectors of the reference frame

\({{\hat x}_t},{{\hat y}_t},{{\hat z}_t}\) :

Unit base vectors of the output frame

$j :

The i-th cable force wrench, \(\left( {{f_i}{{\hat f}_i}\;\;\;{{\vec r}_i} \times {f_i}{{\hat f}_i}} \right)\)

(•)y :

The y component of vectors in (•)

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Acknowledgements

This work was supported by the Technology Innovation Program (or Industrial Strategic Technology Development Program) (20001856, development of robotic work control technology capable of grasping and manipulating various objects in everyday life environment based on multimodal recognition and using tools) funded by the Ministry of Trade, Industry & Energy (MOTIE, Korea). This research was supported by Basic Science Research (NRF-2015R1D1A1A01061193) and New Science Researcher Supporting Program (NRF-2016R1C1 B1012815, NRF-2019R1H1A1080161) through the National Research Foundation of Korea (NRF) funded by the Ministry of Education, Science and Technology and the Ministry of Science and ICT.

Author information

Authors and Affiliations

  1. Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials, Daejeon, Korea

    Youngsu Cho

  2. Department of Electro-Mechanical System Engineering, Korea University, Sejong, 30019, Korea

    Taewoo Hong, Joono Cheong, Wheekuk Kim & Hyunhwan Jeong

  3. Department of Electronic Systems Engineering, Hanyang University, Ansan, Gyeonggi-do, Korea

    Byung-Ju Yi

Authors
  1. Youngsu Cho
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  2. Taewoo Hong
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  3. Joono Cheong
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  4. Byung-Ju Yi
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  5. Wheekuk Kim
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  6. Hyunhwan Jeong
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Corresponding author

Correspondence to Hyunhwan Jeong.

Additional information

Youngsu Cho received B.S., M.S. and Ph.D. from the Department of Control and Instrumentation Engineering, Korea University, Sejong, Korea, in 2011, 2013 and 2020, respectively. Since 2020, he has been with the Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials, Daejeon, where he is currently a Postdoctoral Researcher. His research interests include synthesis of tendon driven manipulator and robot motion control.

TaeWoo Hong received B.S. and M.S. from the Department of Control and Instrumentation Engineering, Korea University, Sejong, Korea, in 2017 and 2019, respectively. His research interests include the development of the parallel manipulator and the cable-driven haptic devices.

Joono Cheong received B.S., M.S. and Ph.D. from Pohang University of Science and Technology (POSTECH) in 1995, 1997 and 2003, respectively. In 2003, he was a researcher with the Institute of Precision Machine and Design, Seoul National University, Seoul. From 2003 to 2005, he was a postdoctoral researcher of the Research Laboratory of Electronics at Massachusetts Institute of Technology, Cambridge, MA. Since 2005, he has been with the Department of Control and Instrumentation Engineering, Korea University, Sejong, where he is currently a Professor. He is the Director of the Laboratory for Advanced Robotics at Korea University. His research interests are robotic manipulation, grasping, and mechanical systems control.

Byung-Ju Yi received the B.S. degree from Hanyang University, Seoul, Korea, in 1984, and the M.S. and Ph.D. degrees from The University of Texas at Austin (UT), TX, USA, in 1986 and 1991, respectively, in Mechanical Engineering. He served as a postdoctoral fellow in the Robotics Group at UT and worked for the Department of Mechanical and Control Engineering, Korea Institute of Technology and Education, Chungnam, Korea. Since 1995, He has been a Professor at the Department of Electronic Systems Engineering, Hanyang University, Ansan, Korea. His research interests include robot mechanics with application to surgical robotic systems and ubiquitous sensor network-based robotics.

Wheekuk Kim received the B.S. degree in Mechanical Engineering from Korea University, Korea, in 1980, and the M.S. and Ph.D. degrees in Mechanical Engineering from the University of Texas at Austin, Austin, TX, USA, in 1985 and 1990, respectively. Since 1991, he has been working as a Professor at the Department of Control and Instrumentation Engineering, Korea University, Sejong, Korea. His research interests are in the area of design of parallel robots, synthesis on both the parallel mechanisms and cable-driven parallel mechanisms, and kinematic/dynamic modeling and analysis of parallel robots.

Hyunhwan Jeong received the B.S. and Ph.D. degrees in Control and Instrumentation Engineering from Korea University at Sejong in 2007 and 2014, respectively. Since 2015, he has been working as a Professor at the Department of ElectroMechanical System Engineering, Korea University, Sejong, Korea. His research interests include cable-driven parallel mechanisms, tendon-driven manipulators, multi-fingered robotic hands and grasping, mobile manipulators and sensor based mechanical system controls.

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Cho, Y., Hong, T., Cheong, J. et al. Development of a new 3T1R type cable-driven haptic device. J Mech Sci Technol 34, 4721–4734 (2020). https://doi.org/10.1007/s12206-020-1029-z

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  • DOI: https://doi.org/10.1007/s12206-020-1029-z

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