Publication

A Task Specific Kinematic Design Methodology With Application to a 4-DOF Haptic Interface

Hannes Bleuler, Ulrich Spälter
2007
Conference Papers

Abstract

Task specific mechanism design for spatial linkages has remained a challenge. In this paper we present a kinematic design methodology, which combines the formalism of the Lie Group method with the effectiveness of creativity techniques from ’integrated product development’, which in fact is a graphical pendant to the Lie Group methodology. The approach is exemplified for the kinematics of a haptic or force-feedback device. Five novel topologies for 2-DOF spherical displacement are presented of which one solution has been realized as prototype and is now used as haptic interface for the simulation of hysteroscopy - a minimal-invasive surgery technique with special demands to mechanism design.

Official source

https://infoscience.epfl.ch/entities/publication/b62be992-1505-4e06-bd6a-0309ee25ac79

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Hannes Bleuler, Ulrich Spälter
2007
Conference Papers

Abstract

Official source

https://infoscience.epfl.ch/entities/publication/b62be992-1505-4e06-bd6a-0309ee25ac79

About this result

Related concepts (24)

Linkage (mechanical)

A mechanical linkage is an assembly of systems connected to manage forces and movement. The movement of a body, or link, is studied using geometry so the link is considered to be rigid. The connections between links are modeled as providing ideal movement, pure rotation or sliding for example, and are called joints. A linkage modeled as a network of rigid links and ideal joints is called a kinematic chain. Linkages may be constructed from open chains, closed chains, or a combination of open and closed chains.

Mechanism (engineering)

In engineering, a mechanism is a device that transforms input forces and movement into a desired set of output forces and movement. Mechanisms generally consist of moving components which may include: Gears and gear trains; Belts and chain drives; Cams and followers; Linkages; Friction devices, such as brakes or clutches; Structural components such as a frame, fasteners, bearings, springs, or lubricants; Various machine elements, such as splines, pins, or keys.

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An industrial robot is a robot system used for manufacturing. Industrial robots are automated, programmable and capable of movement on three or more axes. Typical applications of robots include welding, painting, assembly, disassembly, pick and place for printed circuit boards, packaging and labeling, palletizing, product inspection, and testing; all accomplished with high endurance, speed, and precision. They can assist in material handling.

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