HapticV1, PascalFrancis, Corpus, bibRecord, 001326

3-d.o.f. wire driven planar haptic interface

Identifieur interne : 001326 ( PascalFrancis/Corpus ); précédent : 001325; suivant : 001327

3-d.o.f. wire driven planar haptic interface

Auteurs : P. Gallina ; G. Rosati ; A. Rossi

Source :

Journal of Intelligent and Robotic Systems: Theory and Applications [ 0921-0296 ] ; 2001.

RBID : Pascal:02-0031891

Descripteurs français

Pascal (Inist)
- Théorie, Interface haptique, Commande mouvement, Degré liberté, Cinématique, Effecteur terminal.

English descriptors

KwdEn :
- Degrees of freedom (mechanics), End effectors, Haptic interfaces, Kinematics, Manipulability analysis, Motion control, Polytopes, Theory, Wire driven systems.

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.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

A01	`01`	`1`		`@0 0921-0296`
A03		`1`		`@0 J Intell Rob Syst Theor Appl`
A05				`@2 32`
A06				`@2 1`
A08	`01`	`1`	`ENG`	`@1 3-d.o.f. wire driven planar haptic interface`
A11	`01`	`1`		`@1 GALLINA (P.)`
A11	`02`	`1`		`@1 ROSATI (G.)`
A11	`03`	`1`		`@1 ROSSI (A.)`
A14	`01`			`@1 Dept. Innovation in Mech. and Mgmt. University of Padova @2 35131 Padova @3 ITA @Z 1 aut.`
A20				`@1 23-36`
A21				`@1 2001`
A23	`01`			`@0 ENG`
A43	`01`			`@1 INIST @2 21882`
A44				`@0 A100`
A45				`@0 12 Refs.`
A47	`01`	`1`		`@0 02-0031891`
A60				`@1 P`
A61				`@0 A`
A64	`01`	`1`		`@0 Journal of Intelligent and Robotic Systems: Theory and Applications`
A66	`01`			`@0 NLD`
C01	`01`		`ENG`	@0 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.
C02	`01`	`X`		`@0 001D02D11`
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C02	`03`	`X`		`@0 001D02D`
C02	`04`	`3`		`@0 001B00C40`
C03	`01`	`1`	`ENG`	`@0 Manipulability analysis @4 INC`
C03	`02`	`1`	`ENG`	`@0 Wire driven systems @4 INC`
C03	`03`	`1`	`ENG`	`@0 Polytopes @4 INC`
C03	`04`	`1`	`FRE`	`@0 Théorie`
C03	`04`	`1`	`ENG`	`@0 Theory`
C03	`05`	`1`	`FRE`	`@0 Interface haptique`
C03	`05`	`1`	`ENG`	`@0 Haptic interfaces`
C03	`06`	`1`	`FRE`	`@0 Commande mouvement`
C03	`06`	`1`	`ENG`	`@0 Motion control`
C03	`07`	`1`	`FRE`	`@0 Degré liberté`
C03	`07`	`1`	`ENG`	`@0 Degrees of freedom (mechanics)`
C03	`08`	`1`	`FRE`	`@0 Cinématique`
C03	`08`	`1`	`ENG`	`@0 Kinematics`
C03	`09`	`1`	`FRE`	`@0 Effecteur terminal @3 P`
C03	`09`	`1`	`ENG`	`@0 End effectors @3 P`
N21				`@1 014`

Format Inist (serveur)

NO :	PASCAL 02-0031891 EI
ET :	3-d.o.f. wire driven planar haptic interface
AU :	GALLINA (P.); ROSATI (G.); ROSSI (A.)
AF :	Dept. Innovation in Mech. and Mgmt. University of Padova/35131 Padova/Italie (1 aut.)
DT :	Publication en série; Niveau analytique
SO :	Journal of Intelligent and Robotic Systems: Theory and Applications; ISSN 0921-0296; Pays-Bas; Da. 2001; Vol. 32; No. 1; Pp. 23-36; Bibl. 12 Refs.
LA :	Anglais
EA :	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.
CC :	001D02D11; 001D03J03; 001D02D; 001B00C40
FD :	Théorie; Interface haptique; Commande mouvement; Degré liberté; Cinématique; Effecteur terminal
ED :	Manipulability analysis; Wire driven systems; Polytopes; Theory; Haptic interfaces; Motion control; Degrees of freedom (mechanics); Kinematics; End effectors
LO :	INIST-21882
ID :	02-0031891

Links to Exploration step

Pascal:02-0031891

Le document en format XML

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<front><div type="abstract" xml:lang="en">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.</div>
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3-d.o.f. wire driven planar haptic interface

3-d.o.f. wire driven planar haptic interface

Source :

Descripteurs français

English descriptors

Abstract

Notice en format standard (ISO 2709)

Format Inist (serveur)

Links to Exploration step

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri