Design of a compact 6-DOF haptic device to use parallel mechanisms

Masaru Uchiyama, Yuichi Tsumaki, Woo Keun Yoon

    Research output: Chapter in Book/Report/Conference proceedingChapter

    8 Citations (Scopus)


    We present design of a compact haptic device in which parallel mechanisms are utilized. The design realizes a large workspace of orientational motion in a compact volume of the device. The device is a parallel-serial mechanism consisting of a modified DELTA mechanism for translational motion and a spatial five-bar gimbal mechanism for orientational motion. We derive an analytical model of stiffness for the modified DELTA mechanism which we utilize for the design of a stiff platform for translational motion. The model shows that the compliance matrix is a function of kinematic parameters as well as elastic parameters of each mechanical element. Configuration dependency of the compliance matrix is therefore an important point to be noticed.

    Original languageEnglish
    Title of host publicationSpringer Tracts in Advanced Robotics
    EditorsSebastian Thrun, Hugh Durrant-Whyte, Rodney Brooks
    PublisherSpringer Verlag
    ISBN (Print)9783540481102
    Publication statusPublished - 2007

    Publication series

    NameSpringer Tracts in Advanced Robotics
    ISSN (Print)1610-7438
    ISSN (Electronic)1610-742X

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Artificial Intelligence


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