A planar parallel 3-DOF cable-driven haptic interface
نویسندگان
چکیده
In this paper, a cable-driven planar parallel haptic interface is presented. First, the velocity equations are derived and the forces in the cables are obtained by the principle of virtual work. Then, an analysis of the wrench-closure workspace is performed and a geometric arrangement of the cables is proposed. Control issues are then discussed and a control scheme is presented. The calibration of the attachment points is also discussed. Finally, the prototype is described and experimental results are provided.
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