@inproceedings{531c5275981e48b99dccfd07c101b9ce,
title = "Design and analysis of a 3-DOF haptic device",
abstract = "Haptic devices are finding increased application in many fields, such as dentistry, especially in training of dentists in performing various operations in small and restricted spaces. This paper addresses design and verification of a 3-DOF haptic device for dental training application. Based on forward kinematic analysis of the mechanism, the position resolution of the output point of the device is analyzed and the elements which influence the position resolution are determined. Inverse kinematic analysis of the mechanism is also carried out for preparing to be used in the interaction communication between operator and virtual space. Based on the static force analysis of the device, the maximum value of driving torques is calculated and used to select driving motors which can meet the requirement of minimum output force. The Lagrangian method is applied to determine, dynamic equation of a 3-DOF haptic device. The inverse driving character of the 3-DOF haptic device is evaluated according to the dynamic analysis.",
keywords = "Driving characteristic, Dynamics, Haptic device, Haptic interaction, Kinematics",
author = "Weidong Guo and Tomovic, \{Mileta M.\} and Yuru Zhang",
year = "2007",
language = "英语",
isbn = "1934272078",
series = "CITSA 2007 - Int. Conference on Cybernetics and Information Technologies, Systems and Applications and CCCT 2007 - Int. Conference on Computing, Communications and Control Technologies, Proceedings",
pages = "148--153",
booktitle = "CITSA 2007 - Int. Conference on Cybernetics and Information Technologies, Systems and Applications and CCCT 2007 - Int. Conference on Computing, Communications and Control Technologies, Proceedings",
note = "4th International Conference on Cybernetics and Information Technologies, Systems and Applications, CITSA 2007, Jointly with the 5th International Conference on Computing, Communications and Control Technologies, CCCT 2007 ; Conference date: 12-07-2007 Through 15-07-2007",
}