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This paper is devoted to the kinematic design of a new six degree-of-freedomhaptic device using two parallel mechanisms. The first one, called orthoglide,provides the translation motions and the second one, called agile eye, producesthe rotational motions. These two motions are decoupled to simplify the directand inverse kinematics, as it is needed for real-time control. To reduce theinertial load, the motors are fixed on the base and a transmission with twouniversal joints is used to transmit the rotational motions from the base tothe end-effector. Two alternative wrists are proposed (i), the agile eye withthree degrees of freedom or (ii) a hybrid wrist made by the assembly of atwo-dof agile eye with a rotary motor. The last one is optimized to increaseits stiffness and to decrease the number of moving parts.

A Six Degree-Of-Freedom Haptic Device Based On The Orthoglide And A Hybrid Agile Eye