This paper addresses the balancing of a haptic device by using a set of springs. The proposed haptic device is based on a purely translational parallel manipulator. Given the specific application as haptic device, it is necessary to eliminate or minimize the effect of gravity for achieving a suitable positioning and force feedback. Given the peculiarities of this haptic device, this paper reports the design, construction and preliminary testing of a simple and low-cost balancing solution based on an external set of springs. Simulation results and preliminary tests are reported for showing the engineering feasibility and effectiveness of the proposed solution.

Balancing of a Haptic Device with a Set of Springs

Gatti G.;Carbone G.
2022

Abstract

This paper addresses the balancing of a haptic device by using a set of springs. The proposed haptic device is based on a purely translational parallel manipulator. Given the specific application as haptic device, it is necessary to eliminate or minimize the effect of gravity for achieving a suitable positioning and force feedback. Given the peculiarities of this haptic device, this paper reports the design, construction and preliminary testing of a simple and low-cost balancing solution based on an external set of springs. Simulation results and preliminary tests are reported for showing the engineering feasibility and effectiveness of the proposed solution.
978-3-030-87382-0
978-3-030-87383-7
Automation
Manufacturing. SDG4
Robotics
Static balancing
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/20.500.11770/326665
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