Kinematic and static analysis of a cable-driven 3-DOF delta parallel mechanism for haptic manipulators

With the rapid development of virtual reality technology, a variety of haptic devices have been designed and applied in the human computer interaction. The parallel mechanism is widely employed due to its high stiffness and resolution. However, its kinematics and dynamics are more complex than its serial counterpart since the parallel links are mechanical coupled. Specially, it is of great significance to make an accuracy gravity compensation for haptic manipulator on which the haptic transparency relies. This paper introduces a cable driven 3-DOF delta parallel mechanism for haptic manipulator and presents the forward and inverse kinematics analyses including the Jacobian matrix and the singularities. According to the principle of virtual work, the static model of the delta parallel manipulator is established and based on this, a practical algorithm for gravity compensation is proposed. The efficiency of the gravity compensation algorithm is validated by the simulation with ADAMS software.