Design of a compact 6-DOF haptic interface

Y. Tsumaki; H. Naruse; D. N. Nenchev; M. Uchiyama

Design of a compact 6-DOF haptic interface

Y. Tsumaki, H. Naruse, D. N. Nenchev, M. Uchiyama

Research output: Contribution to journal › Conference article › peer-review

Abstract

In this paper we propose a new compact 6-DOF haptic interface with large workspace. It contains a newly developed five bar spatial gimbal mechanism for orientation, placed on a modified Delta parallel-link mechanism. The motion range of each axis of the five bar mechanism is over ±70 degrees. Quick motions can be realized easily due to the parallelism inherent to both the modified Delta substructure and the five bar substructure.

Original language	English
Pages (from-to)	2580-2585
Number of pages	6
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	3
Publication status	Published - 1998 Jan 1
Event	Proceedings of the 1998 IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Leuven, Belgium Duration: 1998 May 16 → 1998 May 20

ASJC Scopus subject areas

Software
Control and Systems Engineering

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abstract = "In this paper we propose a new compact 6-DOF haptic interface with large workspace. It contains a newly developed five bar spatial gimbal mechanism for orientation, placed on a modified Delta parallel-link mechanism. The motion range of each axis of the five bar mechanism is over ±70 degrees. Quick motions can be realized easily due to the parallelism inherent to both the modified Delta substructure and the five bar substructure.",

author = "Y. Tsumaki and H. Naruse and Nenchev, {D. N.} and M. Uchiyama",

year = "1998",

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note = "Proceedings of the 1998 IEEE International Conference on Robotics and Automation. Part 1 (of 4) ; Conference date: 16-05-1998 Through 20-05-1998",

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AU - Naruse, H.

AU - Nenchev, D. N.

AU - Uchiyama, M.

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AB - In this paper we propose a new compact 6-DOF haptic interface with large workspace. It contains a newly developed five bar spatial gimbal mechanism for orientation, placed on a modified Delta parallel-link mechanism. The motion range of each axis of the five bar mechanism is over ±70 degrees. Quick motions can be realized easily due to the parallelism inherent to both the modified Delta substructure and the five bar substructure.

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M3 - Conference article

AN - SCOPUS:0031626533

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EP - 2585

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

SN - 1050-4729

T2 - Proceedings of the 1998 IEEE International Conference on Robotics and Automation. Part 1 (of 4)

Y2 - 16 May 1998 through 20 May 1998

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