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

Masaru Uchiyama, Yuichi Tsumaki, Woo Keun Yoon

    研究成果: Chapter

    7 被引用数 (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.

    ホスト出版物のタイトルSpringer Tracts in Advanced Robotics
    編集者Sebastian Thrun, Hugh Durrant-Whyte, Rodney Brooks
    出版社Springer Verlag
    出版ステータスPublished - 2007


    名前Springer Tracts in Advanced Robotics

    ASJC Scopus subject areas

    • Electrical and Electronic Engineering
    • Artificial Intelligence

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