A screw geometry approach to a novel 5DOFs haptic interface design

• Post by: System
• 27 November 2019
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In this paper a novel 5DOFs haptic interface is presented. The system development is shown starting from the kinematic synthesis of a class of translating parallel mechanisms. Then the static behavior of these systems is given together with a geometric insight into their forces and singularity distribution. Finally some ergonomic aspects are pointed out to select a final suitable solution.