Related Manuals for Force Dimension sigma.7
Summary of Contents for Force Dimension sigma.7
- Page 1 USER MANUAL sigma.7 haptic device version 1.2 06.2013 Force Dimension Route de Saint-Cergue 295 CH – 1260 Nyon Switzerland www.forcedimension.com...
- Page 3 FD-SDK refers to the Software Development Kit (SDK) for all Force Dimension products. sigma.x refers to the base haptic device shared by sigma.7 haptic devices. Unless speci- fied, all instructions in this manual apply to all sigma device types.
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Page 5: Table Of Contents
Linux 14 5.1 installing the software 14 5.2 installation description 14 5.3 installing the drivers 14 6. configuring the sigma.7 under Mac OS X 15 6.1 installing the software 15 6.2 installation description 15 6.3 installing the drivers 15 7. ... -
Page 6: Device Description
1. device description figure 1 – sigma.7 haptic device overview device stand rear leg end-effector (grasping handle) device stand front legs pole mounting interface device stand pole power switch device main body power connector arms of translational base USB connector... -
Page 7: Important Safety Instructions
use... -
Page 8: Setting Up The Sigma.7
ONLY USE THE ORIGINAL PACKAGING FOR STORING OR SHIPPING device installation The sigma.7 haptic device is shipped in 3 boxes. Please start by opening the 2 smaller boxes which contain the device stand. The operations described below are best performed by a team of 2 people. - Page 9 4. pole interface figure 4 – box containing sigma.7 device, after removal of front foam part Remove the pole attachment interface and power supply before lifting out device from its lower foam block as illustrated in figure 5. While a first person may hold the device, a second person may remove the lower foam block and place it on a table top or any other stable flat surface.
- Page 10 figure 5 – the device is lifted out of the plastic container figure 6 – the device is placed back on its lower foam block Insert the pole attachment interface at the back of device body shroud and securely fasten the screw by using the provided red hex-driver tool, as illustrated in figure 7.
- Page 11 Finally the sigma.7 device base can be mounted on its stand pole by sliding it from the top, as illustrated in figure 8. Place the base at the desired height and lock the mechanism by fastening the clamping screw as shown in figure 9.
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Page 12: Installing The Power Supply
(200-240 volt) or low-input voltage (100-120 volt). For safety purposes you should only op- erate your sigma.7 haptic device using the original Force Dimension power supply that came with your device. Replacement power supplies can be ordered directly from Force Dimension. -
Page 13: Configuring The Sigma.7 Under Windows
\manuals subfolder All hardware user manuals are located in that directory. \lib,\include subfolders These directories contain the files required to compile you application with the Force Dimension SDK. Please refer to the on-line programming manual for more information. installing the drivers USB drivers The sigma.7 requires the Force Dimension USB driver. -
Page 14: Configuring The Sigma.7 Under Linux
5. configuring the sigma.7 under Linux installing the software The Force Dimension development folder must be installed onto your system before the sigma.7 can be used. To do this, perform the following steps: plug the Force Dimension USB drive into your system decompress the sdk-<version>.tar.gz file from the drive \Linux subfolder to the de-... -
Page 15: Configuring The Sigma.7 Under Mac Os
SDK. Please refer to the on-line programming manual for more information. installing the drivers The Apple version of the Force Dimension SDK uses Apple’s native USB drivers, which are in- cluded in Mac OS X 10.4 and higher. No further installation is required. -
Page 16: Using The Sigma.7
7. using the sigma.7 device geometry sigma.7 translation axis The position of the center of the end-effector (handle) can be read from the controller. The sys- tem converts the encoder values into (X, Y, Z) coordinates, expressed in IUS (metric) unit. Figure 11 shows the coordinate system. -
Page 17: Operating The Sigma.7
– calibration is necessary to obtain accurate, reproducible localization of the end- effector within the workspace of the device. The sigma.7 is designed in such a way that there can be no drift of the calibration over time, so the procedure only needs to be performed once when the device is powered on. -
Page 18: Running The Haptic Desk Program
Haptic Desk program Under Windows, the Haptic Desk is available as a test and diagnostic program. Haptic Desk allows the programmer to: > list all Force Dimension haptic devices connected to the system > test each device position reading >... -
Page 19: Running The Demonstrations Programs
running the demonstrations programs Two demonstration programs can also be used to diagnose the device. The source code and an executable file for each of the demonstration programs are provided in two separate directories named \gravity and \torus. Once the system is setup, we suggest running gravity to check that every thing is working properly and to evaluate your system's performance independently of the graphics rendering performance. - Page 20 torus example The torus example displays an OpenGL scene that can be haptically explored. figure 7 – reflections example note – OpenGL and the OpenGL Utility Toolkit (GLUT) must be installed for your compiler and development environment to compile this example. Please refer to your compiler documentation for more information, or consult http://www.opengl.org/resources/libraries/glut.html...
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Page 23: Technical Information
8. technical information sigma.7 ∅ 190 mm x L 130 mm workspace translation rotation 235 x 140 x 200 deg forces translation 20.0 N rotation 400 mNm grasping ± 8.0 N resolution linear 0.0015 mm rotation 0.013 deg grasping 0.006 mm... - Page 24 The information in this document is provided for reference only. Force Dimension does not assume any liability arising out of the application or use of the information or product described herein. This document may contain or reference information and products protected by copyrights or patents and does not convey any license under the patent rights of Force Dimension, nor the rights of others.
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