@inbook{e1724902f62a4e24bf5384d0f51d1870,
title = "Design of a compact 6-DOF haptic device to use parallel mechanisms",
abstract = "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.",
author = "Masaru Uchiyama and Yuichi Tsumaki and Yoon, {Woo Keun}",
year = "2007",
doi = "10.1007/978-3-540-48113-3_14",
language = "English",
isbn = "9783540481102",
series = "Springer Tracts in Advanced Robotics",
publisher = "Springer Verlag",
editor = "Sebastian Thrun and Hugh Durrant-Whyte and Rodney Brooks",
booktitle = "Springer Tracts in Advanced Robotics",
}