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Brewer et al., 2011 - Google Patents

A friction differential and cable transmission design for a 3-dof haptic device with spherical kinematics

Brewer et al., 2011

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Document ID
15074533217958943134
Author
Brewer R
Leeper A
Salisbury J
Publication year
Publication venue
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

External Links

Snippet

We present a new mechanical design for a 3-DOF haptic device with spherical kinematics (pitch, yaw, and prismatic radial). All motors are grounded in the base to decrease inertia and increase compactness near the user's hand. An aluminum-aluminum friction differential …
Continue reading at web.stanford.edu (PDF) (other versions)

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls

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