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Design of a Six Degree-of-Freedom Haptic Hybrid Platform Manipulator

Thesis Student

TunÁ Bilgincan


MSc Thesis Project






    The word Haptic, based on an ancient Greek word called haptios, means related with touch. As an area of robotics, haptics technology provides the sense of touch for robotic applications that involve interaction with human operator and the environment. The sense of touch accompanied with the visual feedback is enough to gather most of the information about a certain environment. It increases the precision of teleoperation and sensation levels of the virtual reality (VR) applications by exerting physical properties of the environment such as forces, motions, textures. Currently, haptic devices find use in many VR and teleoperation applications. The objective of this thesis is to design a novel Six Degree-of-Freedom (DOF) haptic desktop device with a new structure that has the potential to increase the precision in the haptics technology. First, previously developed haptic devices and manipulator structures are reviewed. Following this, the conceptual designs are formed and a hybrid structured haptic device is designed manufactured and tested.

Developed haptic device's control algorithm and VR application is developed in Matlab© Simulink. Integration of the mechanism with mechanical, electromechanical and electronic components and the initial tests of the system are executed and the results are presented. According to the results, performance of the developed device is discussed and future works are addressed

Publication List


[1] T. Bilgincan, ÷. Selvi, Y. Kant, and M. ›. C. Dede, "Novel Structural Design of a Robotic Device for use in Virtual Reality Simulators," Proceeding of the National Machine Theory Symposium UMTS 2009, Guzelyurt, Turkish Republic of Northern Cyprus, July 2-4, 2009.
[2] M. ›. C. Dede, ÷. Selvi, T. Bilgincan, and Y. Kant, "Design of a Haptic Device for Precision Operations," Proceeding of the IEEE International Conference on Systems, Man & Cybernetics, SMC 2009, San Antonio, Texas, pp. 3623 - 3628, October 10-12 2009.
[3] T. Bilgincan, and M. ›. C. Dede,"Development of an R-CUBE Based General Purpose Haptic Device System," Proceedings of the ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, Istanbul, Turkey, July 12-14, 2010.
[4] T. Bilgincan, E. Gezgin, and M. ›. C. Dede,"Integration of the Hybrid-Structure Haptic Interface HIPHAD v1.0,"Proceedings of the International Symposium of Mechanism and Machine Theory, Izmir, Turkey, pp. 267 - 284, October 5-8, 2010.

Related Theses Supervised

[1] T. Bilgincan "Design of a six Degree-of-Freedom Haptic Hybrid Platform Manipulator," MSc Thesis, Izmir Institute of Technology, 2010.