Development of a new 3T1R type cable-driven 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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| Veröffentlicht in: | Journal of mechanical science and technology 2020-11, Vol.34 (11), p.4721-4734 |
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| container_issue | 11 |
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| container_title | Journal of mechanical science and technology |
| container_volume | 34 |
| creator | Cho, Youngsu Hong, Taewoo Cheong, Joono Yi, Byung-Ju Kim, Wheekuk Jeong, Hyunhwan |
| description | 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 3
T
1
R
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. |
| doi_str_mv | 10.1007/s12206-020-1029-z |
| format | Article |
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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 3
T
1
R
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.</description><identifier>ISSN: 1738-494X</identifier><identifier>EISSN: 1976-3824</identifier><identifier>DOI: 10.1007/s12206-020-1029-z</identifier><language>eng</language><publisher>Seoul: Korean Society of Mechanical Engineers</publisher><subject>Actuation ; Cables ; Constraints ; Control ; Dynamical Systems ; Engineering ; Industrial and Production Engineering ; Mechanical Engineering ; Microprocessors ; Original Article ; Pneumatics ; Synthesis ; Vibration</subject><ispartof>Journal of mechanical science and technology, 2020-11, Vol.34 (11), p.4721-4734</ispartof><rights>The Korean Society of Mechanical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2020</rights><rights>The Korean Society of Mechanical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2020.</rights><lds50>peer_reviewed</lds50><woscitedreferencessubscribed>false</woscitedreferencessubscribed><citedby>FETCH-LOGICAL-c316t-8e3e8afc24c79df65e793633282d2871c6c00a7c8daaa8e5dd875a058647403b3</citedby><cites>FETCH-LOGICAL-c316t-8e3e8afc24c79df65e793633282d2871c6c00a7c8daaa8e5dd875a058647403b3</cites></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktopdf>$$Uhttps://link.springer.com/content/pdf/10.1007/s12206-020-1029-z$$EPDF$$P50$$Gspringer$$H</linktopdf><linktohtml>$$Uhttps://link.springer.com/10.1007/s12206-020-1029-z$$EHTML$$P50$$Gspringer$$H</linktohtml><link.rule.ids>314,777,781,27905,27906,41469,42538,51300</link.rule.ids></links><search><creatorcontrib>Cho, Youngsu</creatorcontrib><creatorcontrib>Hong, Taewoo</creatorcontrib><creatorcontrib>Cheong, Joono</creatorcontrib><creatorcontrib>Yi, Byung-Ju</creatorcontrib><creatorcontrib>Kim, Wheekuk</creatorcontrib><creatorcontrib>Jeong, Hyunhwan</creatorcontrib><title>Development of a new 3T1R type cable-driven haptic device</title><title>Journal of mechanical science and technology</title><addtitle>J Mech Sci Technol</addtitle><description>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 3
T
1
R
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.</description><subject>Actuation</subject><subject>Cables</subject><subject>Constraints</subject><subject>Control</subject><subject>Dynamical Systems</subject><subject>Engineering</subject><subject>Industrial and Production Engineering</subject><subject>Mechanical Engineering</subject><subject>Microprocessors</subject><subject>Original Article</subject><subject>Pneumatics</subject><subject>Synthesis</subject><subject>Vibration</subject><issn>1738-494X</issn><issn>1976-3824</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2020</creationdate><recordtype>article</recordtype><recordid>eNp1kEtLAzEUhYMoWKs_wF3AdfQmmcljKfUJBUEquAtp5o5OaWfGZDrS_nqnjODK1T2L850LHyGXHK45gL5JXAhQDAQwDsKy_RGZcKsVk0Zkx0PW0rDMZu-n5CylFYASGecTYu-wx3XTbrDuaFNST2v8pnLBX2m3a5EGv1wjK2LVY00_fdtVgRbYVwHPyUnp1wkvfu-UvD3cL2ZPbP7y-Dy7nbMgueqYQYnGl0FkQduiVDlqK5WUwohCGM2DCgBeB1N47w3mRWF07iE3KtMZyKWckqtxt43N1xZT51bNNtbDSydysFLIXKmhxcdWiE1KEUvXxmrj485xcAdDbjTkBkPuYMjtB0aMTBq69QfGv-X_oR-FfGdZ</recordid><startdate>20201101</startdate><enddate>20201101</enddate><creator>Cho, Youngsu</creator><creator>Hong, Taewoo</creator><creator>Cheong, Joono</creator><creator>Yi, Byung-Ju</creator><creator>Kim, Wheekuk</creator><creator>Jeong, Hyunhwan</creator><general>Korean Society of Mechanical Engineers</general><general>Springer Nature B.V</general><scope>AAYXX</scope><scope>CITATION</scope><scope>7TB</scope><scope>8FD</scope><scope>FR3</scope></search><sort><creationdate>20201101</creationdate><title>Development of a new 3T1R type cable-driven haptic device</title><author>Cho, Youngsu ; Hong, Taewoo ; Cheong, Joono ; Yi, Byung-Ju ; Kim, Wheekuk ; Jeong, Hyunhwan</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c316t-8e3e8afc24c79df65e793633282d2871c6c00a7c8daaa8e5dd875a058647403b3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2020</creationdate><topic>Actuation</topic><topic>Cables</topic><topic>Constraints</topic><topic>Control</topic><topic>Dynamical Systems</topic><topic>Engineering</topic><topic>Industrial and Production Engineering</topic><topic>Mechanical Engineering</topic><topic>Microprocessors</topic><topic>Original Article</topic><topic>Pneumatics</topic><topic>Synthesis</topic><topic>Vibration</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Cho, Youngsu</creatorcontrib><creatorcontrib>Hong, Taewoo</creatorcontrib><creatorcontrib>Cheong, Joono</creatorcontrib><creatorcontrib>Yi, Byung-Ju</creatorcontrib><creatorcontrib>Kim, Wheekuk</creatorcontrib><creatorcontrib>Jeong, Hyunhwan</creatorcontrib><collection>CrossRef</collection><collection>Mechanical & Transportation Engineering Abstracts</collection><collection>Technology Research Database</collection><collection>Engineering Research Database</collection><jtitle>Journal of mechanical science and technology</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Cho, Youngsu</au><au>Hong, Taewoo</au><au>Cheong, Joono</au><au>Yi, Byung-Ju</au><au>Kim, Wheekuk</au><au>Jeong, Hyunhwan</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Development of a new 3T1R type cable-driven haptic device</atitle><jtitle>Journal of mechanical science and technology</jtitle><stitle>J Mech Sci Technol</stitle><date>2020-11-01</date><risdate>2020</risdate><volume>34</volume><issue>11</issue><spage>4721</spage><epage>4734</epage><pages>4721-4734</pages><issn>1738-494X</issn><eissn>1976-3824</eissn><abstract>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 3
T
1
R
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.</abstract><cop>Seoul</cop><pub>Korean Society of Mechanical Engineers</pub><doi>10.1007/s12206-020-1029-z</doi><tpages>14</tpages></addata></record> |
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| issn | 1738-494X 1976-3824 |
| language | eng |
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| source | SpringerLink Journals - AutoHoldings |
| subjects | Actuation Cables Constraints Control Dynamical Systems Engineering Industrial and Production Engineering Mechanical Engineering Microprocessors Original Article Pneumatics Synthesis Vibration |
| title | Development of a new 3T1R type cable-driven haptic device |
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