3-d.o.f. Wire Driven Planar Haptic Interface

Authors:
Paolo Gallina;Giulio Rosati;Aldo Rossi
Affiliations:
Department of Innovation in Mechanics and Management, University of Padova, via Venezia 1, 35131 Padova, Italy;Department of Innovation in Mechanics and Management, University of Padova, via Venezia 1, 35131 Padova, Italy;Department of Innovation in Mechanics and Management, University of Padova, via Venezia 1, 35131 Padova, Italy
Venue:
Journal of Intelligent and Robotic Systems
Year:
2001

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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.