Mehmet İsmet Can DEDE, Omar W. MAAROOF, Marco CECCARELLI

BİR KİNESTETİK HAPTİK CİHAZIN DİNAMİK ANALİZİ

Bu makalede R-CUBE mekanizması ve seri küresel bilek mekanizmasını temel alan bir hibrit-yapılı kinestetik haptik cihaz üzerinde durulmuştur. Cihaz noktasal teması kullanıcıya hissettirmesi için tasarlanmıştır. Dolayısı ile, sadece üç-boyutlu kuvvetler kullanıcıya R-CUBE mekanizması üzerinden iletilmiştir. Bu makale, mekanizmanın kabiliyetinin daha iyi anlaşılması ve ilerideki çalışmalarda haptik denetleyicisinde kullanılması için, RCUBE mekanizmasının yarı-statik kuvvet analizini, yerçekimi etkisi telafisi hesaplarını ve dinamik analizini sunmaktadır. Çıkarılan dinamik denklemler kullanılarak haptik uygulama senaryolarında gerekli eyleyici torkları incelenmiştir

Anahtar Kelimeler:

Haptik, Paralel Mekanizmalar, Dinamik

ANALYTICAL DYNAMIC ANALYSIS OF A KINESTHETIC HAPTIC DEVICE

A hybrid-structured kinesthetic haptic device based on an R-CUBE mechanism and a serial spherical wrist mechanism is considered in this article. This device is designed to simulate pointtype contacts on the user. Hence, only three-dimensional forces are simulated to the user through the R-CUBE mechanism. This paper presents the quasi-static force analysis, gravity compensation calculations and dynamic analysis of the R-CUBE mechanism to serve for better understanding the capabilities of the mechanism and to be used in haptics controller development in the future studies. Making use of the derived dynamic equations, torque requirements from the actuators are examined for use in the haptic application scenarios

Keywords:

Haptics, Parallel Mechanisms, Dynamics,

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