Development and application of wire‐actuated haptic interfaces

Melchiorri, Claudio; Vassura, Gabriele

doi:10.1002/rob.8114

Cited by 9 publications

(3 citation statements)

References 11 publications

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“…Some sample applications of wire-based tracking include haptic devices for virtual reality systems for the visually impaired [1] or for the characterization of singularities of parallel mechanisms [2].…”

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confidence: 99%

A Wire-Based Active Tracker

Andrade‐Cetto

Thomas

2008

IEEE Trans. Robot.

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Abstract-Wire-based tracking devices are an affordable alternative to costly tracking devices. They consist of a fixed base and a platform, attached to the moving object, connected by six wires whose tension is maintained along the tracked trajectory. One important shortcoming of these devices is that they are forced to operate in reduced workspaces so as to avoid singular configurations. Singularities can be eliminated by adding more wires, but this causes more wire interferences, and a higher force exerted on the moving object by the measuring device itself. This paper shows how, by introducing a rotating base, the number of wires can be reduced to three, and singularities can be avoided by using an active sensing strategy. This also permits reducing wire interference problems and the pulling force exerted by the device.

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confidence: 99%

A Wire-Based Active Tracker

Andrade‐Cetto

Thomas

2008

IEEE Trans. Robot.

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“…is a cable robot that moves a video camera for use in stadiums and indoor arenas. The use of IRPM has also been proposed for search and rescue in the event of urban earthquakes (Tadokoro [11]), pose measuring systems (Jeong [12,13], Ottaviano [14]), haptic devices (Melchiorri [15]), bathroom cleaning robot (Takahashi [16]) and rehabilitation (Homma [17]) as illustrated in Fig. 1.3(e).…”

Section: (C)mentioning

confidence: 99%

“…• A trapezoidal screw thread (10) is rigidly fixed to the base by shaft holders (11) with the usage of set screws (12) at both ends. The trapezoidal screw thread nut (16) would be located rigidly inside the winch (15). This is achieved by using a steel plate cap (17) with bolts (19) to restrict lateral displacement and set screws (20) to restrict rotational displacement between the trapezoidal screw thread nut and the winch.…”

Section: Appendix a Symbolic Solutions Of The 4th Ordermentioning

confidence: 99%

Analysis and design of cable-driven parallel kinematic mechanisms

Pham¹

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This thesis concerns the analysis and design of cable-driven parallel mechanisms (CDPM). Structurally, a CDPM is formed by replacing the supporting legs of a parallel mechanism with active cables. It has the advantages of simple mechanical structure, low moment of inertia, and high speed motion. One distinctive characteristic of CDPMs is the unilateral property of the cables, i.e. cables can only pull but not push. At present, the design and application of CDPMs are limited and there is a lack of systematic analysis methods for CDPMs. This work aims to lay down a framework for the analysis, design and application of fully restrained CDPMs. The forward kinematics of a CDPM is difficult because of its closed-loop structures. Numerical Newton-Raphson method is employed to obtain the forward displacement solutions. This method is modified to improve its computational aspect by establishing the mapping between the Newton-Raphson matrix and the Jacobian matrix. It is important to ensure suitable tension conditions in CDPMs such that the pose of the moving platform can be fully restrained by at least one appropriate set of positive cable tensions. Three tension conditions for CDPMs are identified and formulated. They are the force-closure condition, the feasible wrench condition and the wrench set condition. A recursive dimension reduction method is proposed to decompose an n-dimensional system into a number of 1-dimensional subsystems. To facilitate the checking of tension conditions, three algorithms FCC, FWC and WSC are developed and computational examples show that they are effective in checking the conditions. Generic strategies of numerically generating and quantifying the workspace are investigated by identifying the geometrical constraints. A tension factor is proposed to be used as a performance index to evaluate the quality of force closure for CDPMs at a specific configuration. Subsequently, a global tension index is defined to evaluate the tension quality over the entire workspace. The results provide valuable insight into the design optimization problems of CDPMs. A novel cable winding mechanism to provide a stationary contacting point and a constant relation between the cable length and actuator rotation is presented. The features are useful in simplifying the system dynamic model as well as in improving the dynamic performance of the system. The formulation of the system dynamic model of CDPMs is derived. The existence of torque solutions can be systematically checked by the feasible wrench condition, enabling the optimal torque values to be obtained using optimization algorithms. The validity of the theoretical analysis such as kinematics, cable tension and workspace is verified by experimental results obtained using a prototype cable-driven planar mechanism.

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Haptic interface prototype for feedback control on robotic integration of smart sensors

Auner

Proceedings of 2003 IEEE Conference on Control Applications, 2003. CCA 2003.

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Development and application of wire‐actuated haptic interfaces

Cited by 9 publications

References 11 publications

A Wire-Based Active Tracker

A Wire-Based Active Tracker

Analysis and design of cable-driven parallel kinematic mechanisms

Haptic interface prototype for feedback control on robotic integration of smart sensors

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