This paper presents a planar 4 wire driven 3 D.o.F. mechanism. For a planar haptic interface, this device could provide planar forces and moment feedback to the human operator. The particular end-effector geometric configuration overcomes manipulability problems arising from other recent planar wire haptic interfaces. Moreover, an explicit forward kinematic pose solution is obtained by introducing a modified wire configuration. Complete kinematic and manipulability analyses are presented
Manipulability of a planar wire driven haptic device
ROSATI, GIULIO
2002
Abstract
This paper presents a planar 4 wire driven 3 D.o.F. mechanism. For a planar haptic interface, this device could provide planar forces and moment feedback to the human operator. The particular end-effector geometric configuration overcomes manipulability problems arising from other recent planar wire haptic interfaces. Moreover, an explicit forward kinematic pose solution is obtained by introducing a modified wire configuration. Complete kinematic and manipulability analyses are presented
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