Design and Implementation of a Two-Limbed 3T1R Haptic Device
Long Kang,Yang Yang,Byung-Ju Yi,Long Kang,Yang Yang,Byung-Ju Yi
This paper presents a haptic device with a simple architecture of only two limbs that can provide translational motion in three degrees of freedom (DOF) and one-DOF rotational motion. Actuation redundancy eliminates all forward-kinematic singularities and improves the motion-force transmission property. Thanks to the special structure of the kinematic chains, all actuators are close to the base an...
