Two-handed teleoperation setup with two Quanser HD2
- Don Wilson (Unlicensed)
Device use type: TBD
Location: W7-079, W7-081, ECERF
Description: 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.
Features:
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 amps19.71 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)
Hourly fees for use:
SMART Network: TBD
Academic: TBD
Industry: TBD