A 3 d.o.f modified Delta mechanism was used as a positioning subsystem and a five-bar orientation subsystem was developed. The compactness requirement was achieved using motors with harmonic drives and a compact six-axis force/torque sensor to compensate for the reduced backdrivability due to the high reduction ratio of these drives.
|Number of pages||3|
|Publication status||Published - 2000 Jan 1|
ASJC Scopus subject areas
- Control and Systems Engineering
- Human-Computer Interaction
- Hardware and Architecture
- Computer Science Applications