A Spherical Wrist Prototype for the Development of Haptics Applications with the Novint Falcon Robot

Resumen: The Novint Falcon parallel robot is an inexpensive device originally created as a joystick for the video game industry. However, its closed structure and low price make it an ideal platform for the development of science-oriented virtual reality applications with force rendering. Although its three Degrees of Freedom (DOF) are adequate for a wide variety of situations where the user feels feedback forces by modifying the end-effector's position, more complex haptic applications require three additional DOF so feedback torques related to the end effector's orientation can be generated. This paper reports a first approximation for the creation of a spherical wrist prototype that increases the Novint Falcon's dexterity. A virtual reality application was developed in order to showcase the mechanism's new functionality.

¿Cómo citar?

Enrique Martíınez-Fernández, José Daniel Castro-Día & Marco A. Arteaga-Pérez. A Spherical Wrist Prototype for the Development of Haptics Applications with the Novint Falcon Robot. Memorias del Congreso Nacional de Control Automático, pp. 335-340, 2018.

Palabras clave

parallel robot, virtual reality, spherical wrist, force rendering

• Clavel. Device for the movement and positioning of an element in space. Unites States Patent Office: 0250470, 1990.
• Carla García López de Llergo. Control de fuerza sobre superficies virtuales. Master’s thesis, UNAM, 2014.
• Zoran Pandilov and Vladimir Dukovski. Comparison of the characteristics between serial and parallel robots. Acta Technica Corviniensis-Bulletin of Engineering, 7 (1):143, 2014.
• Iván Torres Rodríguez. Puesta en funcionamiento del robot paralelo novint falcon. Bachelor’s thesis, UNAM, 2017.
• William R Sherman and Alan B Craig. Understanding virtual reality: Interface, application, and design. Elsevier, 2002.
• B Siciliano, L Sciavicco, L Villani, and G Oriolo. Robotics–modelling, planning and control. advanced textbooks in control and signal processing series, 2009.
• Mark W Spong, Seth Hutchinson, Mathukumalli Vidyasagar, et al. Robot modeling and control, volume 3. Wiley New York, 2006.
• Lung-Wen Tsai. Robot analysis: the mechanics of serial and parallel manipulators. John Wiley & Sons, 1999.