Abstract
This paper presents the design, and characterization of a single degree of freedom haptic device based upon the Peaucellier-Lipkin mechanism, which is a perfect straight line motion. As compared to other single degree of freedom devices, the device features a larger workspace, and force output, while providing perfect straight line motion. Link lengths to minimize the size of the mechanism for the desired workspace size were determined following an optimization procedure. A prototype of the device has been built, and evaluated using bandwidth and apparent inertia measurements.
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Khandelwal, S., Karandikar, M., Gupta, A. (2014). Design and Evaluation of a Peaucellier-Lipkin Linkage Based Haptic Interface. In: Auvray, M., Duriez, C. (eds) Haptics: Neuroscience, Devices, Modeling, and Applications. EuroHaptics 2014. Lecture Notes in Computer Science(), vol 8618. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-44193-0_45
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DOI: https://doi.org/10.1007/978-3-662-44193-0_45
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