Design and Analysis of a New Six-DOF Haptic Device for Dental Training

—This paper presents a new six DOF haptic device for dental surgery training system, which can provide 6 dimensional virtual force and torque. The proposed haptic device is based on a modified 6-RSS parallel mechanism. Small inertia of the device is obtained by locating all the actuators on the fixed platform. The inverse and forward kinematics of the device is solved by a new numerical method. Singular configurations are identified and prevented from being within the required task workspace. The required force and torque is achieved within the task workspace. The performance of the device has been proved satisfying the design requirements.

• Type: Conference
• Year: 2007
• Where: roman
• Authors: Yonggang Cao, Yuru Zhang, Yunzhong Ma, Dangxiao Wang
• Keywords: DOF Haptic Device, Haptic Device, Robotics, ROMAN 2007, Task Workspace