20.500.12556/DKUM-52150 Manipulability of a haptic mechanism within the cylindrical space of an MR scanner The aim of this paper is to present developed 3 DOF haptic mechanism and 3D visualization method for analysis of mechanism manipulability problems within limited space. Improvement in mechanism manipulability within cylindrical space is crucial for devices, which operate in MR tunnel. This solution enables the plotting of quantitative 3D representation for each point in the mechanism's workspace, using selected resolution which can be determined in advance. The cross-section between the limited space and the whole arbitrary workspace shows the ability for movement execution. gibljivost Jacobijeva matrika delovni prostor haptični mehanizem MR-združljivost omejen prostor manipulability Jacobian matrix workspace haptic mechanism MR compatibility limited workspace true false false = Association of Mechanical Engineers and Technicians of Slovenia et al. Angleški jezik Angleški jezik Delo ni kategorizirano 2015-07-10 17:08:03 2015-07-10 17:08:03 2022-05-31 03:09:28 2019-07-11 07:37:35 2012 0 0 str. 563-570, SI 117 no. 10 Vol. 58 okt. 2012 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 621.85.05 762116 16372758 10.5545/sv-jme.2009.085 0039-2480 URN:SI:UM:DK:NHUO3SFR http://www.dlib.si/details/URN:NBN:SI:doc-VAMPUMZC 1 https://dk.um.si/Dokument.php?lang=slv&id=76710 Fakulteta za strojništvo 0 0 0