Fully Isotropic Parallel Mechanisms: An Innovative Concept for Haptic Devices

1. 제 목 : Fully Isotropic Parallel Mechanisms: An Innovative Concept for Haptic Devices

2. 연 사 : Prof. Grigore Gogu
(French Institute of Advanced Mechanics & University Blaise Pascal, France)

3. 일 시 : 2007년 8월 20일 (월) 11:00~12:00

4. 장 소 : 301동 1512호

5. 내 용 :
Haptic devices are mechanical devices that mediate communication between the
user and the computer by allowing users to touch, feel, and manipulate three-
dimensional objects in virtual environments and teleoperated systems. They are
input-output devices, meaning that they track a user's physical manipulation
(input) and provide realistic touch sensations (output) coordinated with the
extraction of information about the environment or manipulation for modifying
the environment. This talk reviews the parallel mechanisms used in haptic
devices and suggests the use of a new family of fully isotropic parallel
mechanisms recently proposed by the author under the name of Isogliden-TsRb.
The end-effector has up to six degrees of freedom (n=a+b) which could be any
combination of up to three independent translations (a<=3) and three rotations
(b<=3). The condition number and the determinant of the Jacobian matrix being
equal to one in the entire working space, the PMs of the Isogliden-TaRb family
perform very well with regard to force and motion transmission capabilities.
This is an important advantage of these mechanisms that could contribute to a
more realistic haptic rendering.

6. 연사약력 :
Professor Grigore Gogu is head of the research team on Machines, Mechanisms and
Systems of the Mechanical Engineering Research Group of the French Institute of
Advanced Mechanics and University Blaise Pascal in Clermont-Ferrand, France.

7. 문 의 : 기계항공공학부 박종우 교수(☏ 880-7133)