Study of the haptic interface of a collaborative parallel robot
Abstract
This paper describes all the work carried out for the study of the haptic interface for a collaborative robot. The proposed structure connects two parallel mechanisms in series: first a modified Delta and second a hybrid Agile Eye mechanism. The global structure is taken to achieve 6 degrees of freedom of movement. By doing simulations, the main geometrical parameters of the interface were determined. Then, a 3D model of the interface was designed in order to implement the interface through 3D printing.