This paper presents the design and control of a new 5-DOF haptic manipulator. This haptic manipulator consists of two 3-DOF parallel structures with an end effector connected to each parallel structure. This design satisfies the requirements of low mass moment of inertia, enough workspace, large stiffness, and large applied torques. Kinematics for position and differential motion is developed for 5-DOF haptic manipulator such that the force feedback from the slave manipulator can be controlled. The haptic manipulator is also designed based on the composite global design index (CGDI). A feedback control system with PD and PI-SMC combined with the neural friction compensator is analyzed to simulate the force feedback of the slave manipulator.
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