A planar parallel 3-DOF cable-driven haptic interface

Journal of Systemics, Cybernetics and Informatics

Régis Poulin¹  Denis Laurendeau¹  Clément Gosselin¹ 

[1] Université Laval;

关键词: Parallel Mechanism;    Cable-Driven Mechanism;    Haptic Interface;    Planar Mechanism;   

DOI  :  

来源: DOAJ

【 摘 要 】

In this paper, a cable-driven planar parallel haptic interface is pre- sented. 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 ge- ometric 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.

【 授权许可】

Unknown