INCA 6D  

The INCA 6D is a 6 degrees-of-freedom haptic device, specifically designed for work in Virtual Reality environments. Thanks to its large workspace and its high forces, it enables a scale one interaction with digital models coming from CAD.

Its main applications are:

- ergonomic studies

- accessibility studies

- assembly simulation

- project review

The INCA 6D is composed of height motor module, the workspace is dependent to the position of the motor module. For example in a configuration of a cube : 3mx3mx3m, the workspace will be 1.50x1.50x1.50m with a rotation of +/-40° in all directions independently. As a consequence, the haptic interface is a 6 degrees-of-freedom device, with force-feedback in all directions. The resolution in position is 0.2mm.

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Technical Characteristics:

Force-feedback on all 6 degrees-of-freedom (3 translations and 3 rotations)

Operational workspace is depending the position of the motor and the cable

Maximum force of 40N (15 N continuous), i.e. high enough to simulate the handling of heavy
objects

Maximum rotation torque of 5 Nm (1,5Nm continuous)

Exact static compensation of the device’s own weight

Modular end-effector equipped with programmable switches

Gripping tool equipped with a proximity sensor, connected to a “dead-man” function: as long as the user does not hold the gripping tool in his hand, and as soon as he releases it, the motors are switched off, and no active movement can occur

Easy to setup few minutes. Easy to assembly and to disassembly, very important to continue to use the room for other application

Development kit (API) available for the major operating systems

Demonstrated compatibility with the major software applications on the market today, using dedicated plug-ins: Vortex™, Havok™, ODE, Virtools™, Catia™ V5, OpenMask, etc.

Compatibility with tracking device like ART

Specifications:

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