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.
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Uchiyama, M., Tsumaki, Y., Yoon, WK. (2007). Design of a Compact 6-DOF Haptic Device to Use Parallel Mechanisms. In: Thrun, S., Brooks, R., Durrant-Whyte, H. (eds) Robotics Research. Springer Tracts in Advanced Robotics, vol 28. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-48113-3_14
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DOI: https://doi.org/10.1007/978-3-540-48113-3_14
Publisher Name: Springer, Berlin, Heidelberg
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