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 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. Manipulability analysis has been performed by introducing a complete set of manipulability indices

3-d.OF wire driven planar haptic interface

ROSATI, GIULIO;ROSSI, ALDO
2001

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 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. Manipulability analysis has been performed by introducing a complete set of manipulability indices
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11577/2478004
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