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Title: Integration of the hybrid-structure haptic interface: HIPHAD v1.0
Authors: Bilgincan, Tunç
Gezgin, Erkin
Dede, Mehmet İsmet Can
Keywords: Haptic interface
Parallel manipulators
Issue Date: 2010
Publisher: Curran Associates
Source: Bilgincan, T., Gezgin, E., and Dede, M. İ. C. (2010). Integration of the hybrid-structure haptic interface: HIPHAD v1.0. Paper presented at the Proceedings of the International Symposium of Mechanism and Machine Theory, 2010 AzCIFToMM, Izmir Institute of Technology, Izmir, 5-8 October.
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.
ISBN: 9781618390875
Appears in Collections:Mechanical Engineering / Makina Mühendisliği

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