Design of a Passively Balanced Spatial Linkage Haptic Interface-Reference-Cited by-同舟云学术

Design of a Passively Balanced Spatial Linkage Haptic Interface

Published:2004-11-01 Issue:6 Volume:126 Page:984-991
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Steger R.¹,Lin K.¹,Adelstein B. D.²,Kazerooni H.¹

Affiliation:

1. Mechanical Engineering Department, University of California, Berkeley, CA 94720

2. Human Factors Research & Technology Division, NASA Ames Research Center, Moffett Field, CA 94035

Abstract

This paper describes the design and implementation of a compact high fidelity desktop haptic interface that provides three-degree-of-freedom point-force interaction through a handheld pen-like stylus. The complete haptic device combines a spatial linkage, actuation, power amplification, and control electronics in a standalone package with a footprint similar to that of a notebook computer 33cm×25cm×10cm. The spatial linkage is composed of one planar and two spherical subloops. Two versions of the spatial linkage were designed: a lightweight polycarbonate plastic version suitable for inexpensive mass production, and an aluminum and stainless steel linkage that offers greater reliability and higher stiffness. Both linkages were designed to be statically balanced over their full workspace.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/126/6/984/5533976/984_1.pdf

Reference23 articles.

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