TY  - JOUR
TI  - Analytical Dynamic Analysis of a Kinesthetic Haptic Device
AB  - 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.
AU  - CECCARELLI, Marco
AU  - MAAROOF, Omar W.
AU  - DEDE, MEHMET İSMET CAN
DO  - 10.21205/deufmd. 2018205939
PY  - 2018
JO  - Dokuz Eylül Üniversitesi Mühendislik Fakültesi Fen ve Mühendislik Dergisi
VL  - 20
IS  - 59
SN  - 1302-9304
SP  - 492
EP  - 508
DB  - TRDizin
UR  - http://search/yayin/detay/310212
ER  -