NDLI: Force producibility improvement of redundant parallel mechanism for haptic applications

Content Provider	IEEE Xplore Digital Library
Author	Arata, J. Ikedo, N. Fujimoto, H.
Copyright Year	2011
Description	Author affiliation: Dept. of Computer Science and Eng. Graduate School of Eng., Nagoya Institute of Technology, Gokiso-cho, Showa-ku, 466-8555, Japan (Arata, J.; Ikedo, N.; Fujimoto, H.)
Abstract	Haptic device has attracted attention over the years for the growing demand in industrial, research and consumer use. As mechanical performance of haptic device, wide range of working area, wide bandwidth of generating force, number of Degrees Of Freedom (DOF) and compact size are generally desirable. Parallel mechanism has been widely introduced to haptic device for advantageous benefits such as a high rigidity, a high output force, a high accuracy and a high backdrivability by its multi-legged structure and fixed actuators on the base. In parallel mechanism, the arm configuration can be asymmetric depending on the position, and thus it influences to the force producibility - an ability of force generation. Therefore, an evaluation on the force producibility is a critical issue for a further development of haptic device using parallel mechanism. In this paper, we propose a new approach for improvement of force producibility on a redundant parallel mechanism by using its redundant DOF. Our previously presented redundant parallel mechanism, DELTA-R, was used to show the feasibility of the concept. The forward kinematic model of DELTA-R was modified to decouple the output of X and Y axes to two arms, in taking into account the geometric conditions. In the proposed model, the output of X and Y axes are decoupled to two arms, and the effectiveness was tested in analytical and experimental manners. In addition, to adequately address the force producibility of parallel mechanism for haptic applications, we propose an evaluation technique, Extremal Force Diagram (EFD).
Starting Page	2145
Ending Page	2150
File Size	1342932
Page Count	6
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094798
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force Kinematics Haptic interfaces Joints Mathematical model Jacobian matrices Equations
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in