Two-handed teleoperation setup with two Quanser HD2
Use Type:
TBD
Location:
W7-079, W7-081, ECERF
Overview:
As a dexterous haptic device, HD2 enables researchers to interact with virtual or remote environments using programmable force feedback. Compared to other commercially available haptic devices, HD2 has a large workspace and very low intervening dynamics. This parallel mechanism is highly back-drivable with negligible friction. The heavy-duty capstan drive and high-performance motors reduce the perceived inertia while maintaining rigidity of the device structure.
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Highlights
Device Information
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Workspace:
800 mm (X), 250 mm (Y), 350 mm (Z) 180 degrees (roll), 180 degrees (pitch), continuous (yaw)
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Tip inertia:
300 g (X), 300 g (Y), 300 g (Z) 2.29 g.m 2(roll), 2.29 g.m2 (pitch), 0.79 g.m2 (yaw)
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Back drive frictions:
0.353 N (X), 0.353 N (Y), 0.353 N (Z) 61.775 N/mm (roll), 61.775 N/mm (pitch), 0.5 N/mm (yaw)
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Maximum force/torque at 2 amps:
19.71 N (X), 19.71 N (Y), 13.94 N (Z) 1.72 N.m (roll), 1.72 N,m (pitch), 1.72 N.m (yaw)
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Continuous force/torque at 1.1 amps:
10.84 N (X), 10.84 N (Y), 7.67 N (Z) 0.948 N.m (roll), 0.948 N.m (pitch), 0.948 N.m (yaw)
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Position resolution:
0.051 mm (X), 0.051 mm (Y), 0.051 mm (Z) 0.033 degrees (roll), 0.033 degrees (pitch), 0.088 degrees (yaw)
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Stiffness at 10 kHz:
3000 N/m (X), 3000 N/m (Y), 3000 N/m (Z) 3.4 N.m/rad (roll), 3.4 N.m/rad (pitch), 0.05 N.m/rad (yaw) (torque at 0.6 A)
-
Workspace:
800 mm (X), 250 mm (Y), 350 mm (Z) 180 degrees (roll), 180 degrees (pitch), continuous (yaw)
-
Tip inertia:
300 g (X), 300 g (Y), 300 g (Z) 2.29 g.m 2(roll), 2.29 g.m2 (pitch), 0.79 g.m2 (yaw)
-
Back drive frictions:
0.353 N (X), 0.353 N (Y), 0.353 N (Z) 61.775 N/mm (roll), 61.775 N/mm (pitch), 0.5 N/mm (yaw)
-
Maximum force/torque at 2 amps:
19.71 N (X), 19.71 N (Y), 13.94 N (Z) 1.72 N.m (roll), 1.72 N,m (pitch), 1.72 N.m (yaw)
-
Continuous force/torque at 1.1 amps:
10.84 N (X), 10.84 N (Y), 7.67 N (Z) 0.948 N.m (roll), 0.948 N.m (pitch), 0.948 N.m (yaw)
-
Position resolution:
0.051 mm (X), 0.051 mm (Y), 0.051 mm (Z) 0.033 degrees (roll), 0.033 degrees (pitch), 0.088 degrees (yaw)
-
Stiffness at 10 kHz:
3000 N/m (X), 3000 N/m (Y), 3000 N/m (Z) 3.4 N.m/rad (roll), 3.4 N.m/rad (pitch), 0.05 N.m/rad (yaw) (torque at 0.6 A)