Kinematisk och dynamisk modellering av den haptiska enheten TAU i sex frihetsgrader
The thesis presents an optimally designed kinematic structure for a new 6-DOF haptic device based on TAU configuration. The configuration of the TAU-2 proposed by Suleman Khan and Kjell Andersson [1] was modified and its mobility was verified by using Grübler criterion to have a 6 DOF. Analytical ki...
| Main Author: | |
|---|---|
| Format: | Others |
| Language: | Swedish |
| Published: |
KTH, Maskinkonstruktion (Inst.)
2009
|
| Online Access: | http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-100140 |