DocumentCode
2842003
Title
A two degrees-of-freedom planar haptic interface with high kinematic isotropy
Author
Risoli, Antonio ; Prisco, Giuseppe M. ; Salsedo, Fabio ; Bergamasco, Massimo
Author_Institution
PERCRO, Pisa, Italy
fYear
1999
fDate
1999
Firstpage
297
Lastpage
302
Abstract
Presents the kinematic analysis and the mechanical design of a new tendon drive for a closed 5-bar linkage. This transmission system allows reaching of higher kinematic isotropy than the direct drive of base joints, over a large workspace with respect to the device bulk. The optimum mechanism geometry has been chosen from both kinematic and dynamic perspective. As a result a new two degrees-of-freedom planar haptic interface with high kinematic performance has been designed
Keywords
haptic interfaces; manipulator dynamics; manipulator kinematics; optimisation; closed 5-bar linkage; high kinematic isotropy; optimum mechanism geometry; tendon drive; transmission system; two degrees-of-freedom planar haptic interface; Actuators; Cables; Couplings; Friction; Haptic interfaces; Jacobian matrices; Kinematics; Manipulator dynamics; Pulleys; Tendons;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot and Human Interaction, 1999. RO-MAN '99. 8th IEEE International Workshop on
Conference_Location
Pisa
Print_ISBN
0-7803-5841-4
Type
conf
DOI
10.1109/ROMAN.1999.900356
Filename
900356
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