Now showing items 1-4 of 4
A critical review of unpowered performance metrics of impedance-type haptic devices
A kinesthetic haptic device’s performance relies on unpowered, powered and controlled system characteristics. In this paper, a critical review is carried out for the well-known metrics for kinematics, stiffness and dynamic ...
Synthesis of scalable planar scissor linkages with anti-parallelogram loops
Scissor linkages are commonly used as mechanisms for scaling objects. They constitute a significant portion of deployable structures. Since 1960s many researchers sought to form novel structures using the scissor units. ...
Static force balancing of a 2R1T parallel manipulator with remote center of motion
Assistive robots in surgical applications should be gravity balanced due to safety considerations. This study presents a gravity balancing solution for a 3-degree-of-freedom parallel manipulator to be used as an endoscope ...
Kinematic synthesis of planar 4-Bar path generators for finite line positions
Although the kinematic synthesis of planar function, point-path and motion gen-erators are vastly studied in the literature, surprisingly synthesis of line-path gen-erators is not formulized in detail. This study presents ...