A two degrees-of-freedom planar haptic interface with high kinematic isotropy

• Post by: System
• 27 November 2019
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This paper presents the kinematic analysis and the mechanical design of a new tendon drive for the closed 5-bar linkage. This transmission system allows to reach higher kinematic isotropy than the direct drive of base joints, over a large workspace with respect to the device bulk. The optimum mechanism geometry has been chosen from both kinematic and dynamic perspective. As a result a new two degrees-of-freedom planar Haptic Interface with high kinematic performance has been designed.