A planar parallel 3-DOF cable-driven haptic interface
Clément Gosselin, Régis Poulin, Denis Laurendeau
In this paper, a cable-driven planar parallel haptic interface is pre-
sented. 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 ge-
ometric 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. Full Text
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