Manipulability of a haptic mechanism within the cylindrical space of an MR scanner

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

Povzetek

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.

Ključne besede

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

Podatki

Jezik:	Angleški jezik
Leto izida:	2012
Tipologija:	1.01 - Izvirni znanstveni članek
Organizacija:	UM FS - Fakulteta za strojništvo
Založnik:	= Association of Mechanical Engineers and Technicians of Slovenia et al.
UDK:	621.85.05
COBISS:	16372758
ISSN:	0039-2480
Matična publikacija:	Strojniški vestnik
Št. ogledov:	417
Št. prenosov:	26
Ocena:	0 (0 glasov)
Metapodatki:

Ostali podatki

Sekundarni jezik:	Slovenski jezik
Sekundarne ključne besede:	gibljivost;Jacobijeva matrika;delovni prostor;haptični mehanizem;MR-združljivost;omejen prostor;
URN:	URN:NBN:SI:doc-VAMPUMZC
Vrsta dela (COBISS):	Delo ni kategorizirano
Strani:	str. 563-570, SI 117
Letnik:	Vol. 58
Zvezek:	no. 10
Čas izdaje:	okt. 2012
DOI:	10.5545/sv-jme.2009.085
ID:	1726187