TR Dizin İndeksli Yayınlar / TR Dizin Indexed Publications Collection

Permanent URI for this collectionhttps://hdl.handle.net/11147/7149

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Institution Author: search.filters.institutionAuthor.Maaroof, Omar Waleed NajmPublisher: search.filters.publisher.Dokuz Eylül Üniversitesi

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  • Article
    Analytical Dynamic Analysis of a Kinesthetic Haptic Device
    (Dokuz Eylül Üniversitesi, 2018) Dede, Mehmet İsmet Can; Maaroof, Omar Waleed Najm; Ceccarelli, Marco
    A hybrid-structured kinesthetic haptic device based on an R-CUBE mechanism and a serial spherical wrist mechanism is considered in this article. This device is designed to simulate point-type contacts on the user. Hence, only three-dimensional forces are simulated to the user through the R-CUBE mechanism. This paper presents the quasi-static force analysis, gravity compensation calculations and dynamic analysis of the R-CUBE mechanism to serve for better understanding the capabilities of the mechanism and to be used in haptics controller development in the future studies. Making use of the derived dynamic equations, torque requirements from the actuators are examined for use in the haptic application scenarios.