Development of a new 3T1R type cabledriven haptic device

In this work, structural synthesis of lower-mobility cable-driven parallel mechanisms (CDPMs) is conducted to clearly identify all feasible structures of the lower-mobility CDPMs with n-degrees-of-freedom, which are driven by n + 1 cables fixed on the ground. Through the synthesis, geometric informa...

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Bibliographic Details
Published inJournal of mechanical science and technology pp. 4721 - 4734
Main Authors Youngsu Cho, Taewoo Hong, Joono Cheong, Byung-Ju Yi, Whee Kuk Kim, 정현환
Format Journal Article
LanguageEnglish
Published 대한기계학회 01.11.2020
Subjects
기계공학
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Summary:In this work, structural synthesis of lower-mobility cable-driven parallel mechanisms (CDPMs) is conducted to clearly identify all feasible structures of the lower-mobility CDPMs with n-degrees-of-freedom, which are driven by n + 1 cables fixed on the ground. Through the synthesis, geometric information of various and some new promising structures of unconstrained and constrained lower-mobility CDPMs such as actuation cable wrenches, cable position vector, and required constraint wrenches, are successfully extracted. Then a promising 3T1R type CDPM structure is selected to develop as a haptic device. Its position analysis is conducted and its input-to-output force model is derived. Also, its feasible workspace and its input-to-output force transmission characteristics are examined. Then a prototype haptic device is implemented which is controlled by Raspberry Pi microprocessors. Through a virtual wall following operation by the operator, its operational capability as a haptic device is verified. KCI Citation Count: 0
ISSN:1738-494X
1976-3824
DOI:10.1007/s12206-020-1029-z