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Title: Development of an R-CUBE based general purpose haptic device system
Authors: Bilgincan, Tunç
Dede, Mehmet İsmet Can
Keywords: Haptic devices
Electromechanical components
Hybrid mechanisms
Laser cutting
Issue Date: 2010
Publisher: American Society of Mechanical Engineers
Source: Bilgincan, T., and Dede, M. İ. C. (2010). Development of an R-CUBE based general purpose haptic device system. Paper presented at the Proceedings of the ASME 10th biennial conference on engineering systems design and analysis, Istanbul, Turkey, July 12-14 (pp. 675-682). New York: ASME.
Abstract: A novel 6-Degree-of-Freedom (DoF) hybrid haptic device is presented in this paper. Hybrid mechanism consists of parallel kinematic structure, R-CUBE and a 3-DoF orientation mechanism. In our previous study, the original configuration of the R-CUBE mechanism was investigated. In this work, the original design of R-CUBE is reconfigured as a haptic mechanism and the final mechanism is reoriented in order to equally distribute the gravitational effects to all grounded actuators. Rotational motions of the end-effector are monitored through the 3-DoF orientation mechanism placed on the moving platform of the parallel platform. The design of this haptic device is suitable to reflect forces in translational motions, thus point-type of contact is available for this system. The designed device is manufactured utilizing various types of manufacturing processes, such as wire erosion, laser cutting, milling and turning. Finally manufactured mechanism is integrated with electromechanical components and tested for manipulability.
Description: ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis, ESDA2010; Istanbul; Turkey; 12 July 2010 through 14 July 2010
ISBN: 978-079184917-0
Appears in Collections:Mechanical Engineering / Makina Mühendisliği
Scopus İndeksli Yayınlar Koleksiyonu / Scopus Indexed Publications Collection
WoS İndeksli Yayınlar Koleksiyonu / WoS Indexed Publications Collection

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