A high performance 6-DOF haptic cobot
Identifieur interne : 006C86 ( Main/Exploration ); précédent : 006C85; suivant : 006C87A high performance 6-DOF haptic cobot
Auteurs : Eric L. Faulring [États-Unis] ; J. Edward Colgate [États-Unis] ; Michael A. Peshkin [États-Unis]Source :
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English descriptors
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Abstract
A novel, six-degree-of-freedom active haptic device is introduced. A parallel kinematic design and the use of non-holonomic continuously variable transmissions provide extremely high stiffness in directions that would violate a virtual constraint. At the same time, smooth motion is permitted tangential to virtual constraints and in open space. High quality constraint surfaces having one to five dimensions can be displayed. A notable feature of this device is the mutual coupling of all six linear actuators to a common rotating cylinder, which can, optionally, be powered. The resulting mechanism is simple to control, and allows several new control strategies in Cobotic haptics.
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Edward Colgate</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering Northwestern University</s1><s2>Evanston, IL 60208</s2><s3>USA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Illinois</region></placeName></affiliation></author><author><name sortKey="Peshkin, Michael A" sort="Peshkin, Michael A" uniqKey="Peshkin M" first="Michael A." last="Peshkin">Michael A. 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Faulring</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering Northwestern University</s1><s2>Evanston, IL 60208</s2><s3>USA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Illinois</region></placeName></affiliation></author><author><name sortKey="Colgate, J Edward" sort="Colgate, J Edward" uniqKey="Colgate J" first="J. Edward" last="Colgate">J. Edward Colgate</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering Northwestern University</s1><s2>Evanston, IL 60208</s2><s3>USA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Illinois</region></placeName></affiliation></author><author><name sortKey="Peshkin, Michael A" sort="Peshkin, Michael A" uniqKey="Peshkin M" first="Michael A." last="Peshkin">Michael A. Peshkin</name><affiliation wicri:level="2"><inist:fA14 i1="01"><s1>Department of Mechanical Engineering Northwestern University</s1><s2>Evanston, IL 60208</s2><s3>USA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ></inist:fA14><country>États-Unis</country><placeName><region type="state">Illinois</region></placeName></affiliation></author></analytic></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Continuously variable drive</term><term>Kinematics</term><term>Linear motor</term><term>Non holonomic system</term><term>Surface conditions</term><term>Tactile sensitivity</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Système non holonome</term><term>Sensibilité tactile</term><term>Transmission continuement variable</term><term>Etat surface</term><term>Moteur linéaire</term><term>Cinématique</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">A novel, six-degree-of-freedom active haptic device is introduced. A parallel kinematic design and the use of non-holonomic continuously variable transmissions provide extremely high stiffness in directions that would violate a virtual constraint. At the same time, smooth motion is permitted tangential to virtual constraints and in open space. High quality constraint surfaces having one to five dimensions can be displayed. A notable feature of this device is the mutual coupling of all six linear actuators to a common rotating cylinder, which can, optionally, be powered. The resulting mechanism is simple to control, and allows several new control strategies in Cobotic haptics.</div></front></TEI><affiliations><list><country><li>États-Unis</li></country><region><li>Illinois</li></region></list><tree><country name="États-Unis"><region name="Illinois"><name sortKey="Faulring, Eric L" sort="Faulring, Eric L" uniqKey="Faulring E" first="Eric L." last="Faulring">Eric L. Faulring</name></region><name sortKey="Colgate, J Edward" sort="Colgate, J Edward" uniqKey="Colgate J" first="J. Edward" last="Colgate">J. Edward Colgate</name><name sortKey="Peshkin, Michael A" sort="Peshkin, Michael A" uniqKey="Peshkin M" first="Michael A." last="Peshkin">Michael A. Peshkin</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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