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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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Highly back-drivable joints and very low intervening dynamics
Highly rigid structure with low friction and inertia
Capstan drive mechanism
Counterweights designed to eliminate the effects of gravity
Auxiliary analog and digital inputs
Reconfigurable handle position
High-resolution optical encoders
Built-in linear current amplifiers
Easy connectivity to the data acquisition control board through SCSI cable
Foot push pedal for auxiliary digital input

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)
Dimensions (H x W x L) 0.53 m x 0.3 m x 0.5 m
Mass, including the amplifiers 22 kg

For Simulink

  • QUARC® add-on for MATLAB®/Simulink®
  • Quanser QPIDe DAQ device

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