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Implementation of a revolute-joint-based asymmetric Schonflies motion haptic device with redundant actuation

Title
Implementation of a revolute-joint-based asymmetric Schonflies motion haptic device with redundant actuation
Author
이병주
Keywords
Schonflies motion; Haptic device; Kinematic analysis; Kinematic characteristic; Singularity analysis; Gravity compensation; Inertia compensation
Issue Date
2018-04
Publisher
PERGAMON-ELSEVIER SCIENCE LTD
Citation
MECHATRONICS, v. 50, Page. 87-103
Abstract
In this work, a revolute joint-based asymmetric Schonflies motion (SM) haptic device with 4-Degree-of-Freedom (DOF) force feedback capability is developed. The SM haptic device is composed of a redundantly actuated parallel sub-module which has translational 3-DOF output motion, a pantograph limb which takes the role of providing 1-DOF rotational output motion, and a revolute joint allowing the relative motion between them. All five DC motors without gearhead are placed on the ground by employing proper parallel transmission linkages for power transmission. The large singularity-free workspace and the improved kinematic characteristics are secured by redundantly actuating the 3-DOF sub-module. Thus, the SM haptic device has excellent features such as the unlimited 1-DOF rotational output motion, minimal friction, minimal inertia, and large dexterous workspace. Mobility analysis, kinematic modeling, singularity analysis, optimal design, and linear inertia modeling of the SM haptic device are conducted. Then a prototype with two operational modes such as gravity compensation and linear inertia compensation modes is implemented. Through friction measurements, motion tests for gravity and/or linear inertia compensation modes, and virtual wall experiments, it is confirmed that the prototype possesses minimal friction as well as good gravity and linear inertia compensation performances sufficient for the high-quality haptic device applications such as medical training, robot-assisted surgery, etc.
URI
https://www.sciencedirect.com/science/article/pii/S0957415817301824https://repository.hanyang.ac.kr/handle/20.500.11754/99125
ISSN
0957-4158
DOI
10.1016/j.mechatronics.2017.12.004
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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