The paper presents the results of a work carried out by the Department of Mechanics of Politecnico di Torino, concerning the study and development of a six degrees of freedom force reflecting master structure for teleoperation (haptic device) to be controlled by an operator. The latter imposes the six-dimensional linear and angular displacement of a handle, controlling a remote slave robot or interacting with virtual reality. On the other hand, the operator receives a force feedback related to the environment in which the slave robot or virtual device operates. Since the actuators must be force controlled in order to generate a resultant corresponding to the desired wrench, pneumatic actuation has been chosen because it is particularly suitable to the application and quite economical.
Wire-Driven Pneumatic Actuation of a New 6-DOF Haptic Master
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Ferraresi, C, Carello, M, Pescarmona, F, & Grassi, R. "Wire-Driven Pneumatic Actuation of a New 6-DOF Haptic Master." Proceedings of the ASME 8th Biennial Conference on Engineering Systems Design and Analysis. Volume 1: Advanced Energy Systems, Advanced Materials, Aerospace, Automation and Robotics, Noise Control and Acoustics, and Systems Engineering. Torino, Italy. July 4–7, 2006. pp. 673-679. ASME. https://doi.org/10.1115/ESDA2006-95325
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