Title :
A haptic device DELTA-4: Kinematics and its analysis
Author :
Arata, Jumpei ; Kondo, Hiroyuki ; Sakaguchi, Masamichi ; Fujimoto, Hideo
Author_Institution :
Nagoya Inst. of Technol., Nagoya
Abstract :
In this paper, a new parallel link mechanism ldquoDELTA-4rdquo is developed as a new haptic device within a high quality force display capability and operability. DELTA-4 realizes 3 DOF of translational motions by a new redundant parallel link mechanism. The name of the mechanism DELTA-4 is derived from a conventional parallel link mechanism ldquoDELTArdquo, because there are several common points on motion constraints of end-effector. However, these benefits can be obtained by DELTA-4: wider working area, smaller footprint, better mechanical access of end-effector from operators.
Keywords :
end effectors; haptic interfaces; end effector; haptic device DELTA-4; high quality force display capability; redundant parallel link mechanism; translational motion; Admittance; Displays; Force control; Force feedback; Force sensors; Haptic interfaces; Imaging phantoms; Impedance; Kinematics; Thermal force;
Conference_Titel :
EuroHaptics conference, 2009 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2009. Third Joint
Conference_Location :
Salt Lake City, UT
Print_ISBN :
978-1-4244-3858-7
DOI :
10.1109/WHC.2009.4810823
