Actuator and Sensor System Design of a Haptic Parallel Robot

Actuator and Sensor System Design of a Haptic Parallel Robot

Van de Ven, O.S.

Munnig Schmidt, R.H. (mentor)

Mechanical, Maritime and Materials Engineering

Precision and Microsystems Engineering

2011-05-18

This thesis describes the main work that I have done on my final MSc. project at Delft University of Technology. My project is a part of the design of a haptic tele-operated microassembly system within the group of Precision and Microsystems Engineering (PME) at the faculty Mechanical, Maritime and Materials Engineering (3ME). My work has focused on the final design of the haptic master part, which consists of a parallel robot structure designed by Patrice Lambert. I have done this work in cooperation with Johan Vogel, starting with a literature survey on the sensing and actuation capabilities of the human hand to define the system specifications, and the development of a rigid body as well as a finite elements model of the mechanical structure. This is all described in [vdVV11]. After finishing this first part, the work of Johan focused on the mechanical optimization and design of the robot structure, while my work was the analysis and design of the actuation and sensor system. This will be described here.

Sensor System
Haptic
Parallel Robot

http://resolver.tudelft.nl/uuid:f44bcafe-b7a5-4f2e-bbff-45f805624d3a

2011-06-24

Student theses

master thesis

(c) 2011 Van de Ven, O.S.