Development of a new 3T1R type cable-driven haptic device
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DOI 10.1007/s12206-020-1029-z
Journal of Mechanical Science and Technology 34 (11) 2020 Original Article DOI 10.1007/s12206-020-1029-z Keywords: · Cable-driven parallel mechanism · Force-moment equilibrium condition · Lower-mobility · Structural synthesis · Cable-driven haptic device
Correspondence to: Hyunhwan Jeong [email protected]
Citation: Cho, Y., Hong, T., Cheong, J., Yi, B.-J., Kim, W., Jeong, H. (2020). Development of a new 3T1R type cable-driven haptic device. Journal of Mechanical Science and Technology 34 (11) (2020) 4721~4734. http://doi.org/10.1007/s12206-020-1029-z
Received July 1st, 2019 Revised
June 2nd, 2020
Development of a new 3T1R type cabledriven haptic device Youngsu Cho1, Taewoo Hong2, Joono Cheong2, Byung-Ju Yi3, Wheekuk Kim2 and Hyunhwan Jeong2 1
Department of Robotics and Mechatronics, Korea Institute of Machinery & Materials, Daejeon, Korea, Department of Electro-Mechanical System Engineering, Korea University, Sejong 30019, Korea, 3 Department of Electronic Systems Engineering, Hanyang University, Ansan, Gyeonggi-do, Korea 2
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 3T 1R 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.
Accepted August 27th, 2020 † Recommended by Editor Ja Choon Koo
© The Korean Society of Mechanical Engineers and Springer-Verlag GmbH Germany, part of Springer Nature 2020
1. Introduction In comparison with link-based parallel mechanism (PM), cable-driven PM (CDPM) has larger workspace size, lower inertia, higher payload-to-weight ratio, and higher operation speed. In view of these advantages, various types of CDPMs have been developed and applied in wide range of areas, such as structural buildings [1, 2], rehabilitation [3, 4], cable-driven parallel manipulators [5-7], and haptics [8, 9]. To transmit force to the moving plate of a mechanism properly, all cables must consistently be in a positive tension. In practice, the magnitude of the cable tensile force should consistently be greater than the sum of all resistive forces, such as friction and other unpredicted sources. In addition, the cables for multi-degrees-of-freedom (DOF) CDPMs are lik
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