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CoaxHaptics-3RRR: A Novel Coaxial Spherical Parallel Haptic Device

Dinc, Hüseyin Tugcan and Hulin, Thomas and Rothammer, Michael and Song, HyeonSeok and Willberg, Bertram and Pleintinger, Benedikt and Ryu, Jee-Hwan and Ott, Christian (2022) CoaxHaptics-3RRR: A Novel Coaxial Spherical Parallel Haptic Device. In: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022-10-23 - 2022-10-27, Kyoto, Japan. ISBN 978-166547927-1. ISSN 2153-0858.

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Official URL: https://ras.papercept.net/conferences/conferences/IROS22/program/IROS22_ContentListWeb_2.html

Abstract

This paper presents a novel coaxial haptic interaction device based on a 3-RRR spherical parallel mechanism with three active degrees of freedom (DoF). The benefit of the presented mechanism is that its dynamic moment of inertia is low, weakly coupled, and little dependent on configuration, while it has high structural stiffness.

Item URL in elib:https://elib.dlr.de/189356/
Document Type:Conference or Workshop Item (Poster)
Title:CoaxHaptics-3RRR: A Novel Coaxial Spherical Parallel Haptic Device
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Dinc, Hüseyin TugcanUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Hulin, ThomasUNSPECIFIEDhttps://orcid.org/0000-0002-3814-075XUNSPECIFIED
Rothammer, MichaelUNSPECIFIEDhttps://orcid.org/0000-0002-8759-2234UNSPECIFIED
Song, HyeonSeokUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Willberg, BertramUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Pleintinger, BenediktUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Ryu, Jee-HwanUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:October 2022
Journal or Publication Title:2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
ISSN:2153-0858
ISBN:978-166547927-1
Status:Published
Keywords:haptic device, parallel mechanism, torque feedback
Event Title:2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location:Kyoto, Japan
Event Type:international Conference
Event Start Date:23 October 2022
Event End Date:27 October 2022
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Telerobotics, R - Mechatronics [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems
Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Deposited By: Hulin, Dr. Thomas
Deposited On:05 Dec 2022 12:23
Last Modified:24 Apr 2024 20:50

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