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공간형 3자유도 Haptic 메커니즘의 구현

Title
공간형 3자유도 Haptic 메커니즘의 구현
Other Titles
Implementation of A Spatial 3-DOF Haptic Mechanism
Author
이병주
Keywords
Haptic device(헵틱기기); Kinematic Analysis(기구학 해석); vritual constraint(가상구속); moving average(Low Pass Filter)
Issue Date
2004-10
Publisher
한국정밀공학회
Citation
한국정밀공학회 2004년도 추계학술대회 논문요약집, Page. 68-72
Abstract
In this study, a spatial 3-dof haptic mechanism is implemented. The implemented mechanism does not employ the gear transmissions as velocity reducers for all three joints but uses wire-based transmissions, thereby it is able to minimize the frictions significantly. Also, by employing the structure of the four-bar mechanism to drive third joint from close to the base, the mechanism is able to minimize the inertia effect from the third actuator very effectively. Its kinematic analysis such as position and velocity analyses are performed first. Then, its operating software development, hardware implementation, and the related interfaces between a PC and the implemented Haptic device are completed. To evaluate its potential and its performance as a haptic device, a experiment generating a virtual constraint in a operational task space is conducted and preliminary results are discussed.
URI
http://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE00842898&language=ko_KRhttps://repository.hanyang.ac.kr/handle/20.500.11754/152369
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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