Analytical Dynamic Analysis of a Kinesthetic Haptic Device
| dc.contributor.author | Dede, Mehmet İsmet Can | |
| dc.contributor.author | Maaroof, Omar Waleed Najm | |
| dc.contributor.author | Ceccarelli, Marco | |
| dc.coverage.doi | 10.21205/deufmd.2018205939 | |
| dc.date.accessioned | 2018-12-03T10:52:02Z | |
| dc.date.available | 2018-12-03T10:52:02Z | |
| dc.date.issued | 2018 | |
| dc.description.abstract | 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. | en_US |
| dc.description.abstract | Bu makalede R-CUBE mekanizması ve seri küresel bilek mekanizmasını temel alan bir hibrit-yapılı kinestetik haptik cihaz üzerinde durulmuştur. Cihaz noktasal teması kullanıcıya hissettirmesi için tasarlanmıştır. Dolayısı ile, sadece üç-boyutlu kuvvetler kullanıcıya R-CUBE mekanizması üzerinden iletilmiştir. Bu makale, mekanizmanın kabiliyetinin daha iyi anlaşılması ve ilerideki çalışmalarda haptik denetleyicisinde kullanılması için, R-CUBE mekanizmasının yarı-statik kuvvet analizini, yerçekimi etkisi telafisi hesaplarını ve dinamik analizini sunmaktadır. Çıkarılan dinamik denklemler kullanılarak haptik uygulama senaryolarında gerekli eyleyici torkları incelenmiştir. | en_US |
| dc.description.sponsorship | Marie Curie International Reintegration Grant within the 7th European Community Framework Programme | en_US |
| dc.identifier.citation | Dede, M.İ.C., Maaroof, O.W.N., and Ceccarelli, M. (2018). Analytical dynamic analysis of a kinesthetic haptic device. Dokuz Eylul University-Faculty of Engineering Journal of Science and Engineering, 20(59), 492-508. doi:10.21205/deufmd.2018205939 | en_US |
| dc.identifier.doi | 10.21205/deufmd.2018205939 | en_US |
| dc.identifier.doi | 10.21205/deufmd.2018205939 | |
| dc.identifier.issn | 1302-9304 | |
| dc.identifier.issn | 2547-958X | |
| dc.identifier.uri | http://doi.org/10.21205/deufmd.2018205939 | |
| dc.identifier.uri | https://hdl.handle.net/11147/7033 | |
| dc.identifier.uri | https://search.trdizin.gov.tr/yayin/detay/310212 | |
| dc.language.iso | en | en_US |
| dc.publisher | Dokuz Eylül Üniversitesi | en_US |
| dc.relation.ispartof | Dokuz Eylül Üniversitesi Mühendislik Fakültesi Fen ve Mühendislik Dergisi | en_US |
| dc.rights | info:eu-repo/semantics/openAccess | en_US |
| dc.subject | Haptic devices | en_US |
| dc.subject | Hybrid mechanisms | en_US |
| dc.subject | R-CUBE mechanism | en_US |
| dc.subject | Dynamic mechanical analysis | en_US |
| dc.title | Analytical Dynamic Analysis of a Kinesthetic Haptic Device | en_US |
| dc.title.alternative | Bir Kinestetik Haptik Cihazın Dinamik Analizi | en_US |
| dc.type | Article | en_US |
| dspace.entity.type | Publication | |
| gdc.author.institutional | Dede, Mehmet İsmet Can | |
| gdc.author.institutional | Maaroof, Omar Waleed Najm | |
| gdc.author.yokid | 26957 | |
| gdc.bip.impulseclass | C5 | |
| gdc.bip.influenceclass | C5 | |
| gdc.bip.popularityclass | C5 | |
| gdc.coar.access | open access | |
| gdc.coar.type | text::journal::journal article | |
| gdc.collaboration.industrial | true | |
| gdc.description.department | İzmir Institute of Technology. Mechanical Engineering | en_US |
| gdc.description.endpage | 508 | en_US |
| gdc.description.issue | 59 | en_US |
| gdc.description.publicationcategory | Makale - Ulusal Hakemli Dergi - Kurum Öğretim Elemanı | en_US |
| gdc.description.scopusquality | N/A | |
| gdc.description.startpage | 492 | en_US |
| gdc.description.volume | 20 | en_US |
| gdc.description.wosquality | N/A | |
| gdc.identifier.openalex | W2804964963 | |
| gdc.identifier.trdizinid | 310212 | |
| gdc.index.type | TR-Dizin | |
| gdc.oaire.accesstype | GOLD | |
| gdc.oaire.diamondjournal | false | |
| gdc.oaire.impulse | 0.0 | |
| gdc.oaire.influence | 2.635068E-9 | |
| gdc.oaire.isgreen | true | |
| gdc.oaire.keywords | R-CUBE mechanism | |
| gdc.oaire.keywords | Dynamic mechanical analysis | |
| gdc.oaire.keywords | Haptic devices | |
| gdc.oaire.keywords | Hybrid mechanisms | |
| gdc.oaire.keywords | Haptik;Paralel Mekanizmalar;Dinamik | |
| gdc.oaire.keywords | Haptics;Parallel Mechanisms;Dynamics | |
| gdc.oaire.popularity | 1.2792151E-9 | |
| gdc.oaire.publicfunded | false | |
| gdc.openalex.collaboration | International | |
| gdc.openalex.fwci | 0.0 | |
| gdc.openalex.normalizedpercentile | 0.06 | |
| gdc.opencitations.count | 0 | |
| gdc.plumx.mendeley | 3 | |
| relation.isAuthorOfPublication.latestForDiscovery | 8fed21e3-9b48-4c81-8362-9e6b9ff553b8 | |
| relation.isOrgUnitOfPublication.latestForDiscovery | 9af2b05f-28ac-4022-8abe-a4dfe192da5e |