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dc.contributor.authorDede, Mehmet İsmet Can
dc.contributor.authorMaaroof, Omar Waleed Najm
dc.contributor.authorCeccarelli, Marco
dc.date.accessioned2018-12-03T10:52:02Z
dc.date.available2018-12-03T10:52:02Z
dc.date.issued2018-05
dc.identifier.citationDede, M.İ.C., Maaroof, O.W.N., and Ceccarelli, M. (2018). Analytical dynamic analysis of a kinesthetic haptic device. Dokuz Eylul University-Faculty of Engineering Journal of Science and Engineering, 20(59), 492-508. doi:10.21205/deufmd.2018205939en_US
dc.identifier.urihttp://doi.org/10.21205/deufmd.2018205939
dc.identifier.urihttp://hdl.handle.net/11147/7033
dc.description.abstractA hybrid-structured kinesthetic haptic device based on an R-CUBE mechanism and a serial spherical wrist mechanism is considered in this article. This device is designed to simulate point-type contacts on the user. Hence, only three-dimensional forces are simulated to the user through the R-CUBE mechanism. This paper presents the quasi-static force analysis, gravity compensation calculations and dynamic analysis of the R-CUBE mechanism to serve for better understanding the capabilities of the mechanism and to be used in haptics controller development in the future studies. Making use of the derived dynamic equations, torque requirements from the actuators are examined for use in the haptic application scenarios.en_US
dc.description.abstractBu makalede R-CUBE mekanizması ve seri küresel bilek mekanizmasını temel alan bir hibrit-yapılı kinestetik haptik cihaz üzerinde durulmuştur. Cihaz noktasal teması kullanıcıya hissettirmesi için tasarlanmıştır. Dolayısı ile, sadece üç-boyutlu kuvvetler kullanıcıya R-CUBE mekanizması üzerinden iletilmiştir. Bu makale, mekanizmanın kabiliyetinin daha iyi anlaşılması ve ilerideki çalışmalarda haptik denetleyicisinde kullanılması için, R-CUBE mekanizmasının yarı-statik kuvvet analizini, yerçekimi etkisi telafisi hesaplarını ve dinamik analizini sunmaktadır. Çıkarılan dinamik denklemler kullanılarak haptik uygulama senaryolarında gerekli eyleyici torkları incelenmiştir.en_US
dc.description.sponsorshipMarie Curie International Reintegration Grant within the 7th European Community Framework Programmeen_US
dc.language.isoengen_US
dc.publisherDokuz Eylul University-Faculty of Engineeringen_US
dc.relation.isversionof10.21205/deufmd.2018205939en_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.subjectHaptic devicesen_US
dc.subjectHybrid mechanismsen_US
dc.subjectR-CUBE mechanismen_US
dc.subjectDynamic mechanical analysisen_US
dc.titleAnalytical dynamic analysis of a kinesthetic haptic deviceen_US
dc.title.alternativeBir kinestetik haptik cihazın dinamik analizien_US
dc.typearticleen_US
dc.contributor.authorIDTR26957en_US
dc.contributor.institutionauthorDede, Mehmet İsmet Can
dc.contributor.institutionauthorMaaroof, Omar Waleed Najm
dc.relation.journalDokuz Eylul University-Faculty of Engineering Journal of Science and Engineeringen_US
dc.contributor.departmentIzmir Institute of Technology. Mechanical Engineeringen_US
dc.identifier.volume20en_US
dc.identifier.issue59en_US
dc.identifier.startpage492en_US
dc.identifier.endpage508en_US
dc.relation.publicationcategoryMakale - Ulusal Hakemli Dergi - Kurum Öğretim Elemanıen_US


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