Kinematically Redundant Parallel Haptic Device with Large Workspace
نویسندگان
چکیده
منابع مشابه
Kinematically Redundant Parallel Haptic Device with Large Workspace Regular Paper
In this paper, a kinematically redundant parallel haptic device with large workspace is presented. The haptic device has a similar kinematic structure to the well‐ known Delta manipulator. However, it has a special arrangement of actuators and one redundant actuator added to the third leg. The proposed haptic device has essentially 4‐DOF, however, only three tra...
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Y. Yang, MS student and author of correspondence, Phone: +86-10-8233-8273, Fax: +86-10-8233-8023, Email: [email protected]. Y. Zhang, Professor and author of correspondence, Phone: +86-10-8233-8023, Fax: +86-10-8233-8023, Email: [email protected]. ABSTRACT This paper presents a procedure to obtain a singularity-free task workspace with a new method to deal with singularities. In order to ...
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Creating interactive motion with existing motioncapture systems is difficult because it requires a precise preparation of the real environment. In order to resolve such a drawback, we propose a new interactive motion capture system that combines the existing motion capture system with a haptic device and a human-scale virtual environment. As our system has built virtual environment with haptic ...
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being solved to determine the corresponding required joint values, 8(t;). A kinematically redundant manipulator can, in general, satisfy an end-effector positioning constraint, x(t;), with an infinite family of joint values satisfying (2). The underlying premise for advocating the use of redundant manipulators for critical applications is that if a joint should fail, then the redundancy of the ...
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In this work, the 3-RPRR, a new kinematically redundant planar parallel manipulator with six degrees of freedom, is presented. First the manipulator is introduced and its inverse displacement problem discussed. Then, all types of the singularities of the 3-RPRR manipulator are analysed and demonstrated. Thereafter, the reachable and dexterous workspaces are obtained and compared with those of t...
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2012
ISSN: 1729-8814,1729-8814
DOI: 10.5772/53279