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[119] Citation: Abstract
pen-based direct-drive manipulator enables precision manipulation
and force display of a control point within three degrees of freedom.
The control point exhibits substantially no backlash, very low friction
and very low inertia making it useful as a force display. The
manipulator also has a very high force generation bandwidth allowing
high frequency force components to be displayed. A parallel actuator
structure controls motion over two degrees of freedom in a horizontal
plane. The parallel structure is a redundant structure including three
chains in parallel coupled at the control point. The redundant structure
provides a uniform force capability throughout the manipulator
workspace. A pair of rotational actuators rotate the parallel structure
about an axis to approximate a linear motion along a third axis. The
rotational actuators provide a third degree of freedom for the control
point. Motion about the third axis is substantially decouple from motion
about the horizontal plane.
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Updated: Tue Jul 15 23:54:50 2008
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