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Titolo:
Design, fabrication, and evaluation of a new haptic device using a parallel mechanism
Autore:
Yoon, J; Ryu, J;
Indirizzi:
Kwangju Inst Sci & Technol, Dept Mechatron, Kwangju 500712, South Korea Kwangju Inst Sci & Technol Kwangju South Korea 500712 00712, South Korea
Titolo Testata:
IEEE-ASME TRANSACTIONS ON MECHATRONICS
fascicolo: 3, volume: 6, anno: 2001,
pagine: 221 - 233
SICI:
1083-4435(200109)6:3<221:DFAEOA>2.0.ZU;2-R
Fonte:
ISI
Lingua:
ENG
Soggetto:
INTERFACE;
Keywords:
dynamic performance; gravity compensation; haptic device; pantograph; parallel mechanism; performance indexes; RRR-type spherical joint;
Tipo documento:
Article
Natura:
Periodico
Settore Disciplinare:
Engineering, Computing & Technology
Citazioni:
22
Recensione:
Indirizzi per estratti:
Indirizzo: Yoon, J Kwangju Inst Sci & Technol, Dept Mechatron, Kwangju 500712, South Korea Kwangju Inst Sci & Technol Kwangju South Korea 500712 outh Korea
Citazione:
J. Yoon e J. Ryu, "Design, fabrication, and evaluation of a new haptic device using a parallel mechanism", IEEE-A T M, 6(3), 2001, pp. 221-233

Abstract

This paper presents design, fabrication, and evaluation of a new 6-DOF haptic device for interfacing with virtual reality by using a parallel mechanism. The mechanism is composed of three pantograph mechanisms that are driven by ground-fixed servomotors, three spherical joints between the top of the pantograph mechanisms and the connecting bars, and three revolute joints between the connecting bars and a mobile joystick handle. Forward and inverse kinematic analyses have been performed and the Jacobian matrix is derived. Performance indexes such as global payload index, global conditioning index, translation and orientation workspaces, and sensitivity are evaluated to find optimal parameters in design stage. The proposed haptic mechanism has better load capability (low inertia, high bandwidth, etc.) than those ofthe pre-existing haptic mechanisms due to the fact that motors are fixed at the base. It has also wider orientation workspace mainly due to a RRR-type spherical joint. A control method is presented with gravity compensation and with force feedback by a force/torque (F/T) sensor to compensate for the effects of unmodeled dynamics such as friction and inertia. Also, dynamicperformance has been evaluated for force characteristics such as maximum applicable force, static-friction force, minimum controllable force, and force bandwidth by experiments. Virtual wall simulation with the developed haptic. device has been demonstrated.

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Documento generato il 30/03/20 alle ore 00:33:25