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
Mechan. Machine Science
International Workshop IFToMM for Sustainable Development Goals ; 2021 November 25, 2021 - November 26, 2021
2021-10-14
10 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
Balancing of a Haptic Device with a Set of Springs
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