A two degrees-of-freedom planar haptic interface with high kinematic isotropy

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.