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

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.


Published in:
IFTOMM '07 Proceedings
Presented at:
The 12th World Congress in Mechanism and Machine Science IFTOMM '07, Besançon, 17.-21.6.2007
Year:
2007
Keywords:
Laboratories:




 Record created 2007-02-28, last modified 2018-01-27


Rate this document:

Rate this document:
1
2
3
 
(Not yet reviewed)