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| HAL : hal-00163753, version 1 |
| arXiv : 0707.2721 |
| Fiche détaillée |  Récupérer au format |
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| Virtual Concept, Playa Del Carmen : Mexique (2006) |
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| A Framework to Illustrate Kinematic Behavior of Mechanisms by Haptic Feedback |
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Qinqin Zhang 1, 2Damien Chablat 1 |
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| Tsinghua University Collaboration(s) |
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| (25/11/2006) |
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| The kinematic properties of mechanisms are well known by the researchers and teachers. The theory based on the study of Jacobian matrices allows us to explain, for example, the singular configuration. However, in many cases, the physical sense of such properties is difficult to explain to students. The aim of this article is to use haptic feedback to render to the user the signification of different kinematic indices. The framework uses a Phantom Omni and a serial and parallel mechanism with two degrees of freedom. The end-effector of both mechanisms can be moved either by classical mouse, or Phantom Omni with or without feedback. |
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| 1 : | Institut de Recherche en Communications et en Cybernétique de Nantes (IRCCyN) |
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CNRS : UMR6597 – Université de Nantes – École Centrale de Nantes – Ecole des Mines de Nantes – Ecole Polytechnique de l'Université de Nantes |
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| 2 : | Dept. Industrial Engineering, Tsinghua University (DIE) |
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LIAMA |
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| Méthode de conception en mécanique |
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| Domaine | : | Informatique/Robotique |
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| Haptic feedback – mechanism – singularity – e-learning. |
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| Liste des fichiers attachés à ce document : | |||||
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| hal-00163753, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00163753 | |
| oai:hal.archives-ouvertes.fr:hal-00163753 | |
| Contributeur : Damien Chablat | |
| Soumis le : Mercredi 18 Juillet 2007, 13:54:37 | |
| Dernière modification le : Mercredi 18 Juillet 2007, 15:02:38 | |
