Matej Rajh (Author), Srečko Glodež (Author), Jože Flašker (Author), Karl Gotlih (Author)

Abstract

The aim of this paper is to present developed 3 DOF haptic mechanism and 3D visualization method for analysis of mechanism manipulability problems within limited space. Improvement in mechanism manipulability within cylindrical space is crucial for devices, which operate in MR tunnel. This solution enables the plotting of quantitative 3D representation for each point in the mechanism's workspace, using selected resolution which can be determined in advance. The cross-section between the limited space and the whole arbitrary workspace shows the ability for movement execution.

Keywords

manipulability;Jacobian matrix;workspace;haptic mechanism;MR compatibility;limited workspace;

Data

Language: English
Year of publishing:
Typology: 1.01 - Original Scientific Article
Organization: UM FS - Faculty of Mechanical Engineering
Publisher: = Association of Mechanical Engineers and Technicians of Slovenia et al.
UDC: 621.85.05
COBISS: 16372758 Link will open in a new window
ISSN: 0039-2480
Parent publication: Strojniški vestnik
Views: 417
Downloads: 26
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Metadata: JSON JSON-RDF JSON-LD TURTLE N-TRIPLES XML RDFA MICRODATA DC-XML DC-RDF RDF

Other data

Secondary language: Slovenian
Secondary keywords: gibljivost;Jacobijeva matrika;delovni prostor;haptični mehanizem;MR-združljivost;omejen prostor;
URN: URN:NBN:SI:doc-VAMPUMZC
Type (COBISS): Not categorized
Pages: str. 563-570, SI 117
Volume: Vol. 58
Issue: no. 10
Chronology: okt. 2012
DOI: 10.5545/sv-jme.2009.085
ID: 1726187