Abstract
This paper presents the work carried out to improve the design of an existing kinesthetic haptic device. The proposed improvement is designated for enhancing this device’s impedance width which is a common metric in performance evaluation of haptic devices. In this study, kinematic design optimization, static balancing, constructional design enhancement, and actuation system design studies are presented.
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Acknowledgements
This work is supported by The Scientific and Technological Research Council of Turkey via grant number 117M405.
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Sekendiz, V., Görgülü, İ., Karabulut, M.G., Kiper, G., Dede, M.İ.C. (2021). Manipulator Design for a Haptic System with Improved Performance. In: Sen, D., Mohan, S., Ananthasuresh, G. (eds) Mechanism and Machine Science. Lecture Notes in Mechanical Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-15-4477-4_2
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DOI: https://doi.org/10.1007/978-981-15-4477-4_2
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