Design of a modified DELTA parallel mechanism based on structural stiffness analysis

Woo Keun Yoon, Takashi Suehiro, Yuichi Tsumaki, Masaru Uchiyama

    Research output: Contribution to journalArticlepeer-review


    In our previous work, we developed a compact 6-DOF haptic interface. The haptic interface contains a modified DELTA parallel link positioning mechanism. A stiffness of the modified DELTA mechanism is affected by elastic deformations of both parts and bearings. Therefore, to design such a parallel mechanism, we should analyze structural stiffness of a parallel mechanism, including elastic deformation of both parts and bearings. Then, we have proposed an analysis method of structural stiffness for a parallel mechanism. In this paper, we design a modified DELTA mechanism with a suitable stiffness, using our stiffness analysis method.

    Original languageEnglish
    Pages (from-to)1358-1365
    Number of pages8
    JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
    Issue number5
    Publication statusPublished - 2003 May


    • Design
    • Parallel Mechanism
    • Stiffness Analysis

    ASJC Scopus subject areas

    • Mechanics of Materials
    • Mechanical Engineering
    • Industrial and Manufacturing Engineering


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