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Abstract: The driving capability is an important criterion to
evaluate the performance of the haptic device. It is also a main issue
that must be considered when the device is designed. A new 2-DOF closed
chain mechanism is designed. The methods for analyzing forward and
backward driving capability are presented on the basis of the static and
dynamic analysis. Results are given to show the driving capability of
the device.
Key words: Mechanism Haptic device Capability analysis Driving
capability
CLC No: TH11
国家自然科学基金资助项目(50275003).
Received 20041228, received in revised form 20050413
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