具有高运动各向同性的二自由度平面触觉界面

8th IEEE International Workshop on Robot and Human Interaction. RO-MAN '99 (Cat. No.99TH8483) Pub Date : 1999-09-27 DOI:10.1109/ROMAN.1999.900356

A. Frisoli, M. Prisco, F. Salsedo, M. Bergamasco

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引用次数: 24

摘要

介绍了一种新型闭式五杆机构的运动分析和机械设计。这种传动系统可以达到比直接驱动基础关节更高的运动各向同性，相对于设备的体积，在一个大的工作空间。从运动学和动力学两方面选择了最优的机构几何形状。为此，设计了一种具有高运动性能的二自由度平面触觉界面。

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

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.

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8th IEEE International Workshop on Robot and Human Interaction. RO-MAN '99 (Cat. No.99TH8483)

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