DocumentCode
2003016
Title
Design of a compact 6-DOF haptic interface
Author
Tsumaki, Y. ; Naruse, H. ; Nenchev, D.N. ; Uchiyama, M.
Author_Institution
Graduate Sch. of Eng., Tohoku Univ., Sendai, Japan
Volume
3
fYear
1998
fDate
16-20 May 1998
Firstpage
2580
Abstract
In this paper we propose a new compact 6-DOF haptic interface with large workspace. It contains a newly developed five bar spatial gimbal mechanism for orientation, placed on a modified Delta parallel-link mechanism. The motion range of each axis of the five bar mechanism is over ±70 degrees. Quick motions can be realized easily due to the parallelism inherent to both the modified Delta substructure and the five bar substructure
Keywords
interactive devices; 5-bar substructure; compact 6-DOF haptic interface design; five bar spatial gimbal mechanism; modified Delta parallel-link mechanism; modified Delta substructure; orientation; parallelism; quick motions; Application software; Auditory displays; Back; Computer displays; Computer graphics; Haptic interfaces; History; Master-slave; Parallel processing; Virtual reality;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location
Leuven
ISSN
1050-4729
Print_ISBN
0-7803-4300-X
Type
conf
DOI
10.1109/ROBOT.1998.680730
Filename
680730
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