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
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;
Conference_Titel :
Robot and Human Interaction, 1999. RO-MAN '99. 8th IEEE International Workshop on
Conference_Location :
Pisa
Print_ISBN :
0-7803-5841-4
DOI :
10.1109/ROMAN.1999.900356
