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Integration of the hybrid-structure haptic interface: HIPHAD v1.0

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Conference Object (1.176Mb)
Date
2010
Author
Bilgincan, Tunç
Gezgin, Erkin
Dede, Mehmet İsmet Can
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Abstract
Design, manufacturing, integration and initial test results of the 6-DoF haptic interface, HIPHAD v1.0, are presented in this paper. The hybrid haptic robot mechanism is composed of a 3-DoF parallel platform manipulator, R-Cube, for translational motions and a 3-DoF serial wrist mechanism for monitoring the rotational motions of the handle. The device is capable of displaying point-type of contact since only the R-Cube mechanism is actuated. The dimensions and the orientation of the R-Cube mechanism are reconfigured to comply with the requirements of the haptic system design criteria. The system has several advantages such as relatively trivial kinematical analysis, compactness and high stiffness. The integration of the system along with its mechanism, data acquisition card (DAQ), motor drivers, motors, position sensors, and computer control interface are outlined.
URI
http://hdl.handle.net/11147/7020
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  • Mechanical Engineering / Makina Mühendisliği





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DSpace@IZTECH is member of:

IZTECH Library, Gülbahçe Kampüsü - 35430 - Urla, İzmir / TURKEY
If you find any errors in content, please contact openaccess@iyte.edu.tr or library@iyte.edu.tr.

Creative Commons Lisansı
DSpace@IZTECH by IYTE Institutional repository is licensed under a Creative Commons Attribution-Gayriticari-NoDerivs 3.0 Unported License.


DSpace software copyright © 2002-2015  DuraSpace
Contact Us | Send Feedback
Theme by 
@mire NV