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WrenchPad A Wrench-Sensitive Touch Pad Based on a Parallel Structure

WrenchPad A Wrench-Sensitive Touch Pad Based on a Parallel Structure. R. Frigola, L. Ros, F. Roure and F. Thomas. Institut de Robòtica i Informàtica Industrial Deptartament de Resistència de Materials. ( Technical University of Catalonia ). Goal. Low cost. Simple. Strong.

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WrenchPad A Wrench-Sensitive Touch Pad Based on a Parallel Structure

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  1. WrenchPadA Wrench-Sensitive Touch Pad Based on a Parallel Structure R. Frigola, L. Ros, F. Roure and F. Thomas Institut de Robòtica i Informàtica IndustrialDeptartament de Resistència de Materials (Technical University of Catalonia)

  2. Goal Low cost Simple Strong Design a force-and-torque sensitive platform, to have force feedback when manipulating objects on top of it Π F Requirements

  3. -1 Geometry justification Space of platform wrenches -1 Space of leg forces We look for a geometry with a well conditioned Jacobian

  4. Sensor geometryfrom the unit cube

  5. Sensor geometryfrom the unit cube

  6. Sensor geometryfrom the unit cube

  7. Sensor geometryfrom the unit cube

  8. Mechanical interpretation

  9. From leg forces to contact pointon the platform Ref f w (x,y) 6 6 2 All the external forces and torques can be reduced to a force and a torque acting in the same direction (Poinsot’s Central Axis Theorem)

  10. Problems • Friction at the ball joints • Platform oscillations measured at the legs A possible solution: tensegrity structures

  11. Thank you for your attention

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