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Quanser |
3 DOF Planar Pantograph
Challenge:
Demonstrate, teach and study haptics via this compact
commercial research tool.
Description:
The planar twin-pantograph robot was originally
designed and constructed by Prof. Tim Salcudean (at the University
of British Columbia) to perform research in haptics. Quanser’s
3 DOF pantograph, based on Salcudean’s original design, advances
the redundant actuator robot into a robust commercial research tool.
The haptic interface has three degrees of freedom allowing for planar
translation and unlimited rotation about a single axis. This is achieved
by using a dual-pantograph arrangement. The control knob is directly
connected to a linkage coupling both end points of each pantograph.
The linkage bar forms a crank which allows the handle to rotate 360
degrees unhindered. Each pantograph is directly driven by two DC motors
located at the base joints.
Difficulty:
Project / Research
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