A Framework to Illustrate Kinematic Behavior of Mechanisms by Haptic Feedback

Qinqin Zhang (1, 2) , Damien Chablat (1) , Fouad Bennis (1) , Wei Zhang (2)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 DIE - Dept. Industrial Engineering, Tsinghua University

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.

Mots clés: Haptic feedback; mechanism; singularity; e-learning.; e-learning

Domaines: Robotique [cs.RO]

Qinqin Zhang, Damien Chablat, Fouad Bennis, Wei Zhang. A Framework to Illustrate Kinematic Behavior of Mechanisms by Haptic Feedback. Virtual Concept, Nov 2006, Playa Del Carmen, Mexico. pp.1-6. ⟨hal-00163753⟩