The dismantling processes are very dangerous and there have been many studies for utilizing a remote control system to increase operator's safety. This paper deals with the remote control problem by developing a novel haptic device to control an excavator equipped with the crusher which is one of the most frequently used attachments. Firstly, the newly designed haptic device is described to explore the operability to the excavator equipped with the crusher. Not only the excavator body but also its arm, boom, swing, and crusher are considered in the design. Then, its workspace is analyzed and the mapping between the haptic device and the excavator is examined. Also, the performance index of haptic device is used to discuss the control efficiency. Secondly, through the kinematics analysis about arm, boom, and swing motions of the excavator, the position information of each joint is analyzed in 3-dimensional space. Lastly, both the haptic device and the excavator are modeled using OpenGL program and 3D graphical simulations are extensively performed. The structure of this new haptic device is simple and can be easily manufactured. It can be used to operate the excavator with crusher more conveniently and transparently from a remote site away from the dangerous sites.