ME 20N: Haptics: Engineering Touch

Autumn 2017

Week 6:
2-Degree-of-Freedom
Kinematics
Allison M. Okamura
Stanford University
 kinematics
in multiple degrees
of freedom
 Hapkit kinematics (1-DOF)
xhandle

rpulley ✓pulley = rsector ✓sector

rhandle
xhandle = rhandle ✓sector

rsector

✓sector rpulley rhandle rpulley

xhandle = ✓pulley
rsector
✓pulley
 joint variables
Be careful how you define joint positions

Absolute Relative
 forward kinematics for
higher degrees of freedom

joint variables Cartesian

coordinates

fwd kinematics: from joint angles, calculate endpoint position

serial structures
absolute forward kinematics
x = L1cos(θ1) + L2cos(θ2)
y = L1sin(θ1) + L2sin(θ2)
relative forward kinematics

x = L1cos(θ1) + L2cos(θ1+θ2)
y = L1sin(θ1) + L2sin(θ1+ θ2)
 Inverse Kinematics

• Using the end-effector position, calculate the joint

angles necessary to achieve that position
• There can be:
– No solution (workspace issue)
– One solution
– More than one solution
 example

• Two possible
solutions
• Our devices will be
simple enough that
you can just use
geometry for inverse
kinematics
parallel structures
 four-bar linkage
• commonly used 1-DOF
mechanism
• relationship between input
link angle and output link
angle can be computed from
!
geometry

wikipedia.org
Types of four-bar linkages, s = shortest link, l = longest link
 five-bar linkage
• commonly used 2-DOF mechanism
• relationship between input link angle and output link
angle can be computed from geometry

example:
 pantograph
Definition 1: a mechanical
linkage connected in a manner
based on parallelograms so that
the movement of one pen, in
tracing an image, produces
identical movements in a second
pen.
Definition 2: a kind of structure
that can compress or extend like
an accordion
 pantograph example
A Polygraph is a device
that produces a copy of a
piece of writing
simultaneously with the
creation of the original,
using pens and ink.
Famously used by
Thomas Jefferson ~1805.

Typically uses a pantograph mechanism: a five-bar

linkage with parallel bars such that motion at one
point is reproduced at another point
pantograph haptic device

Xiyang Yeh, ME 327 2012

http://charm.stanford.edu/ME327/Xiyang
pantograph haptic device

Sam Schorr and Jared Muirhead, ME 327 2012

http://charm.stanford.edu/ME327/JaredAndSam
 pantograph haptic device
ed
is
✓m1 x ✓m2
gn l1
✓1 ✓2
ng
l2 y l5
2- Ph
nd P2 P4
l3 l4
al
t’s P3
rts
(a) (b)
ts,
Melisa
Fig. 2. Orta Martinez
Graphkit: et al.,kinesthetic
A 2-DOF World Haptics Conference
haptic device based on2017
the
ve
http://ieeexplore.ieee.org/document/7989891/
Pantograph mechanism and made of 3-D printed structural components.
rk (a) Built Graphkit. (b) The Kinematic model of Graphkit. ✓1 corresponds to
he the angle of rotation of the link on the side with the Master Hapkit Board,
Haplink
n , Tara Gholami , Michal K. Rittikaidachar ,
and Allison M. Okamura1

re,
al
se
its
ng
nd
ly
on
kit
nd
nd
ce (a)
(a)
(a) (b)
(b)
(b) (c)
(c)
(c)
es Hapkit Graphkit Haplink
Fig. 1. Three examples of open source, modular, customizable, 3-D printed
a kinesthetic haptic devices. (a) Hapkit 3.0: A 1-DOF kinesthetic haptic device
kit [11]. (b) Graphkit: A 2-DOF kinesthetic haptic device comprising two
al Hapkits connected by a Pantograph mechanism [12]. (c) Haplink: A 2-DOF
wo kinesthetic haptic device that connects two Hapkits in series to form a novel
rts mechanism.
 ✓b
✓b
Hapkit B

lb
rb
rmb
✓mb

✓a ✓a

la Hapkit A
=
)
=
ra

✓ma
rma
-
s (a) (b)
 2-DOF Workspace

(a) (b)
Fig. Q:
4. What doesachieved
Workspace a 1-DOF Hapkit
by (a) workspace
Graphkit with l1 = look like?l2
88.5 mm,
=
126 mm, l3 = 152.4 mm, l4 = 152.4 mm, and l5 = 126 mm and (b)
Haplink with la = 83 mm, lb = 100 mm, ✓a = 50 deg and ✓b =
 Kinematics
∆θb
r θb
Hapkit B
p
lb
rb
rmb
θmb

p θa ∆θa

la Hapkit A
c

ra

θma
rma