A planar parallel 3-DOF cable-driven haptic interface

被引：0
作者：
Gosselin, Clement [1 ]
Poulin, Regis [2 ]
Laurendeau, Denis [2 ]
机构：
[1] Univ Laval, Dept Mech Engn, Quebec City, PQ, Canada
[2] Univ Laval, Dept Elect Engn, Quebec City, PQ, Canada
来源：
WMSCI 2008: 12TH WORLD MULTI-CONFERENCE ON SYSTEMICS, CYBERNETICS AND INFORMATICS, VOL III, PROCEEDINGS | 2008年
关键词：
haptic interface; parallel mechanism; cable-driven mechanism; planar mechanism;
D O I：
暂无
中图分类号：
TP3 [计算技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a cable-driven planar parallel haptic interface is presented. First, the velocity equations are derived and the forces in the cables are obtained by the principle of virtual work. Then, an analysis of the wrench-closure workspace is performed and a geometric arrangement of the cables is proposed. Control issues are then discussed and a control scheme is presented. The calibration of the attachment points is also discussed. Finally, the prototype is described and experimental results are provided.
引用
收藏
页码：266 / +
页数：3
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