A Framework to Illustrate Kinematic Behavior of Mechanisms by Haptic Feedback

: 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. Key words: Haptic feedback, mechanism, singularity and e-learning.

• Type: Journal
• Year: 2007
• Where: CORR
• Authors: Qinqin Zhang, Damien Chablat, Fouad Bennis, Wei Zhang
• Keywords: CORR 2007, Education, Haptic Feedback, Kinematic Properties, Phantom Omni