Yıl: 2018 Cilt: 20 Sayı: 59 Sayfa Aralığı: 492 - 508 Metin Dili: İngilizce DOI: 10.21205/deufmd. 2018205939 İndeks Tarihi: 16-10-2019

Analytical Dynamic Analysis of a Kinesthetic Haptic Device

Öz:
A hybrid-structured kinesthetic haptic device based on an R-CUBE mechanism and a serial spherical wrist mechanism is considered in this article. This device is designed to simulate pointtype contacts on the user. Hence, only three-dimensional forces are simulated to the user through the R-CUBE mechanism. This paper presents the quasi-static force analysis, gravity compensation calculations and dynamic analysis of the R-CUBE mechanism to serve for better understanding the capabilities of the mechanism and to be used in haptics controller development in the future studies. Making use of the derived dynamic equations, torque requirements from the actuators are examined for use in the haptic application scenarios.
Anahtar Kelime:

Konular: Bilgisayar Bilimleri, Yazılım Mühendisliği Mühendislik, Makine Mühendislik, Jeoloji İnşaat Mühendisliği Malzeme Bilimleri, Kaplamalar ve Filmler İmalat Mühendisliği Bilgisayar Bilimleri, Bilgi Sistemleri Mühendislik, Kimya Malzeme Bilimleri, Biyomalzemeler Malzeme Bilimleri, Kompozitler

Bir Kinestetik Haptik Cihazın Dinamik Analizi

Öz:
Bu makalede R-CUBE mekanizması ve seri küresel bilek mekanizmasını temel alan bir hibrit-yapılı kinestetik haptik cihaz üzerinde durulmuştur. Cihaz noktasal teması kullanıcıya hissettirmesi için tasarlanmıştır. Dolayısı ile, sadece üç-boyutlu kuvvetler kullanıcıya R-CUBE mekanizması üzerinden iletilmiştir. Bu makale, mekanizmanın kabiliyetinin daha iyi anlaşılması ve ilerideki çalışmalarda haptik denetleyicisinde kullanılması için, RCUBE mekanizmasının yarı-statik kuvvet analizini, yerçekimi etkisi telafisi hesaplarını ve dinamik analizini sunmaktadır. Çıkarılan dinamik denklemler kullanılarak haptik uygulama senaryolarında gerekli eyleyici torkları incelenmiştir.
Anahtar Kelime:

Konular: Bilgisayar Bilimleri, Yazılım Mühendisliği Mühendislik, Makine Mühendislik, Jeoloji İnşaat Mühendisliği Malzeme Bilimleri, Kaplamalar ve Filmler İmalat Mühendisliği Bilgisayar Bilimleri, Bilgi Sistemleri Mühendislik, Kimya Malzeme Bilimleri, Biyomalzemeler Malzeme Bilimleri, Kompozitler
Belge Türü: Makale Makale Türü: Araştırma Makalesi Erişim Türü: Erişime Açık
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APA DEDE M, MAAROOF O, CECCARELLI M (2018). Analytical Dynamic Analysis of a Kinesthetic Haptic Device. , 492 - 508. 10.21205/deufmd. 2018205939
Chicago DEDE MEHMET İSMET CAN,MAAROOF Omar W.,CECCARELLI Marco Analytical Dynamic Analysis of a Kinesthetic Haptic Device. (2018): 492 - 508. 10.21205/deufmd. 2018205939
MLA DEDE MEHMET İSMET CAN,MAAROOF Omar W.,CECCARELLI Marco Analytical Dynamic Analysis of a Kinesthetic Haptic Device. , 2018, ss.492 - 508. 10.21205/deufmd. 2018205939
AMA DEDE M,MAAROOF O,CECCARELLI M Analytical Dynamic Analysis of a Kinesthetic Haptic Device. . 2018; 492 - 508. 10.21205/deufmd. 2018205939
Vancouver DEDE M,MAAROOF O,CECCARELLI M Analytical Dynamic Analysis of a Kinesthetic Haptic Device. . 2018; 492 - 508. 10.21205/deufmd. 2018205939
IEEE DEDE M,MAAROOF O,CECCARELLI M "Analytical Dynamic Analysis of a Kinesthetic Haptic Device." , ss.492 - 508, 2018. 10.21205/deufmd. 2018205939
ISNAD DEDE, MEHMET İSMET CAN vd. "Analytical Dynamic Analysis of a Kinesthetic Haptic Device". (2018), 492-508. https://doi.org/10.21205/deufmd. 2018205939
APA DEDE M, MAAROOF O, CECCARELLI M (2018). Analytical Dynamic Analysis of a Kinesthetic Haptic Device. Dokuz Eylül Üniversitesi Mühendislik Fakültesi Fen ve Mühendislik Dergisi, 20(59), 492 - 508. 10.21205/deufmd. 2018205939
Chicago DEDE MEHMET İSMET CAN,MAAROOF Omar W.,CECCARELLI Marco Analytical Dynamic Analysis of a Kinesthetic Haptic Device. Dokuz Eylül Üniversitesi Mühendislik Fakültesi Fen ve Mühendislik Dergisi 20, no.59 (2018): 492 - 508. 10.21205/deufmd. 2018205939
MLA DEDE MEHMET İSMET CAN,MAAROOF Omar W.,CECCARELLI Marco Analytical Dynamic Analysis of a Kinesthetic Haptic Device. Dokuz Eylül Üniversitesi Mühendislik Fakültesi Fen ve Mühendislik Dergisi, vol.20, no.59, 2018, ss.492 - 508. 10.21205/deufmd. 2018205939
AMA DEDE M,MAAROOF O,CECCARELLI M Analytical Dynamic Analysis of a Kinesthetic Haptic Device. Dokuz Eylül Üniversitesi Mühendislik Fakültesi Fen ve Mühendislik Dergisi. 2018; 20(59): 492 - 508. 10.21205/deufmd. 2018205939
Vancouver DEDE M,MAAROOF O,CECCARELLI M Analytical Dynamic Analysis of a Kinesthetic Haptic Device. Dokuz Eylül Üniversitesi Mühendislik Fakültesi Fen ve Mühendislik Dergisi. 2018; 20(59): 492 - 508. 10.21205/deufmd. 2018205939
IEEE DEDE M,MAAROOF O,CECCARELLI M "Analytical Dynamic Analysis of a Kinesthetic Haptic Device." Dokuz Eylül Üniversitesi Mühendislik Fakültesi Fen ve Mühendislik Dergisi, 20, ss.492 - 508, 2018. 10.21205/deufmd. 2018205939
ISNAD DEDE, MEHMET İSMET CAN vd. "Analytical Dynamic Analysis of a Kinesthetic Haptic Device". Dokuz Eylül Üniversitesi Mühendislik Fakültesi Fen ve Mühendislik Dergisi 20/59 (2018), 492-508. https://doi.org/10.21205/deufmd. 2018205939