Design of a Compact 6-DOF Haptic Device to Use Parallel Mechanisms

  • Masaru Uchiyama
  • Yuichi Tsumaki
  • Woo-Keun Yoon
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 28)


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.


Parallel Mechanism Kinematic Parameter Elastic Element Haptic Device Jacobian Matrice 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2007

Authors and Affiliations

  • Masaru Uchiyama
    • 1
  • Yuichi Tsumaki
    • 2
  • Woo-Keun Yoon
    • 3
  1. 1.Department of Aerospace EngineeringTohoku UniversityJapan
  2. 2.Department of Intelligent Machines and System EngineeringHirosaki UniversityJapan
  3. 3.Intelligent Systems Research InstituteNational Institute of Advanced Industrial Science and Technology (AIST)Japan

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