Archive for Январь 7th, 2004

Design and analysis of a new 7-DOF parallel type haptic device: PATHOS-II

Дата: Январь 7th, 2004 Автор:
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  • Тип контента: Научная статья
  • Номер документа: 1450
  • Название документа: Design and analysis of a new 7-DOF parallel type haptic device: PATHOS-II
  • Номер (DOI, IBSN, Патент): 10.1109/IROS.2003.1249204
  • Изобретатель/автор: Youngil Youm, Wan Kyun Chung, Keehoon Kim
  • Правопреемник/учебное заведение: Robotics & Bio-Mechatronics Lab., Pohang Univ. of Sci. & Technol., South Korea
  • Дата публикации документа: 2004-01-07
  • Страна опубликовавшая документ: Корея
  • Язык документа: Английский
  • Наименование изделия: Не заполнено
  • Источник: http://ieeexplore.ieee.org/search/freesrchabstract.jsp?tp=&a
  • Вложения: Да
  • Аналитик: Дмитрий Соловьев

Most tele-operation to manipulate an object consists of grasping and manipulation, and two or more 6-DOF haptic devices are usually used in master side. In this article, a new simply designed 7-DOF haptic device, PATHOS II is proposed for 1-DOF grasping and 6-DOF manipulation. The merits of a parallel type haptic device such as high stiffness and accuracy are natural characteristics of PATHOS-II with optimized workspace. Due to its unique symmetric structure, the isotropic manipulability is enhanced within the reachable workspace. This parallel type haptic device can be used in applications which need high precision, stiffness and isotropic manipulability.

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