The MAT 6D (Master Arm for Telerobotics) is a 6 degrees-of-freedom haptic device or “master arm”, equiped with a force-feedback handle. It is specifically designed for remote operation of robotic manipulators in hostile environments. Thanks to its embedded Cartesian force control and the absence of singularities, it can be used with any kind of slave arm kinematics. With the help of forcefeedback, the operator is able to control precisely the forces exerted by the remote manipulator, thus reducing the risk of tool breakage and environmental damage. The Mat 6D is just as well easy to integrate inside a virtual reality environment for operator training and mission planning.
The MAT 6D is composed of two main articulated segments fixed on a rotating base. The second segment ends with an articulated wrist, which can rotate around three concurrent axes. As a consequence, the haptic interface is a 6 degrees-of-freedom device, with force-feedback in all directions. The workspace of the MAT 6D is large enough to include a cube 40 cm in size. The resolution in position is 0.02 mm in translation, and 1e-4 rad in rotation.
Force-feedback on all 6 degrees-of-freedom (3 translations and 3 rotations)
Operational workspace corresponding to the movements of a human arm
Length of the segments constituting the arm: 500 mm
Maximum continuous force of 30 N (garanteed inside a cube 40 cm in size)
Maximum continuous torque of 3 N.m (garanteed inside a cube 40 cm in size)
Standard tele-operation handle equipped with programmable switches
Highly dependable force transmission system (ball screws)
Mechanical support adjustable in height (optional hydraulic assistance)
Weight of 34 kg, transportable by two persons without specific equipment
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.
Compatible with tele-operation software TAO2000™ V2