3-d.o.f. wire driven planar haptic interface
Identifieur interne : 001177 ( PascalFrancis/Checkpoint ); précédent : 001176; suivant : 0011783-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.
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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.
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Rosati</name><name sortKey="Rossi, A" sort="Rossi, A" uniqKey="Rossi A" first="A." last="Rossi">A. Rossi</name></noCountry><country name="Italie"><noRegion><name sortKey="Gallina, P" sort="Gallina, P" uniqKey="Gallina P" first="P." last="Gallina">P. Gallina</name></noRegion></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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