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The aim of this paper is to present a new six degree-of-freedom (dof) hapticdevice using two parallel mechanisms. The first one, called orthoglide,provides the translation motions and the second one produces the rotationalmotions. These two motions are decoupled to simplify the direct and inversekinematics, as it is needed for real-times control. To reduce the inertialload, the motors are fixed on the base and a transmission with two universaljoints is used to transmit the rotational motions from the base to theend-effector. The main feature of the orthoglide and of the agile eye mechanismis the existence of an isotropic configuration. The length of the legs and therange limits of the orthoglide are optimized to have homogeneous performancethroughout the Cartesian workspace, which has a nearly cubic workspace. Theseproperties permit to have a high stiffness throughout the workspace andworkspace limits that are easily understandable by the user.

A New Six Degree-of-Freedom Haptic Device based on the Orthoglide and the Agile Eye