3-d.o.f. wire driven planar haptic interface
Identifieur interne : 007B05 ( Main/Exploration ); précédent : 007B04; suivant : 007B063-d.o.f. wire driven planar haptic interface
Auteurs : P. Gallina [Italie] ; G. Rosati ; A. RossiSource :
- Journal of Intelligent and Robotic Systems: Theory and Applications [ 0921-0296 ] ; 2001.
Descripteurs français
- Pascal (Inist)
English descriptors
- KwdEn :
Abstract
A 4-wire driven 3-d.o.f. planar haptic device, called the Feriba-3, is described. The particular geometric configuration of the end-effector ensures a closed form kinematic pose solution and good manipulability. Moreover, the structural arrangement adopted makes the Feriba-3 a well-performing haptic device, whose major features are low inertia, low friction, and full dexterity in a large workspace. The manipulability analysis has been performed by introducing a complete set of manipulability indices.
Affiliations:
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Le document en format XML
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