Abstract
A 4-wire driven 3-d.o.f. planar haptic device, called the Feriba-3, is described. The particular geometric configuration of the end-effector ensures a closed form kinematic pose solution and good manipulability. Moreover, the structural arrangement adopted makes the Feriba-3 a well-performing haptic device, whose major features are low inertia, low friction, and full dexterity in a large workspace. The manipulability analysis has been performed by introducing a complete set of manipulability indices.
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Gallina, P., Rosati, G. & Rossi, A. 3-d.o.f. Wire Driven Planar Haptic Interface. Journal of Intelligent and Robotic Systems 32, 23–36 (2001). https://doi.org/10.1023/A:1012095609866
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DOI: https://doi.org/10.1023/A:1012095609866