Development of a Haptic Device "DELTA-4" using Parallel Link Mechanism

被引：0
|
作者：
Arata, Jumpei [1 ]
Kondo, Hiroyuki [1 ]
Sakaguchi, Masamichi [1 ]
Fujimoto, Hideo [1 ]
机构：
[1] Nagoya Inst Technol, Showa Ku, Nagoya, Aichi 4668555, Japan
来源：
ICRA: 2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-7 | 2009年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Nowadays, several haptic devices are commercialized and becoming common not only in research fields but also in consumer use. In this paper, a new parallel link mechanism "DELTA-4" is proposed for a new haptic device within high quality force display capability and operability. DELTA-4 consists of 3 DOF of translational motions. The key features of DELTA-4 comparing with conventional parallel link mechanisms are: a redundant actuation, a wide working area and a small footprint. The prototype is equipped with a 3 DOF of rotation mechanism, which its center of motions is located on the wrist position of an operator. An evaluation test of force display was conducted on a prototype of DELTA-4 mechanism.
引用
收藏
页码：1404 / 1410
页数：7
相关论文
共 50 条
  • [31] Kinematic and Static Analysis of a Cable-driven 3-DOF Delta Parallel Mechanism for Haptic Manipulators
    Hao Jianlong
    Bian Guibin
    Xie Xiaoliang
    Hou Zengguang
    Yu Hongnian
    2015 34TH CHINESE CONTROL CONFERENCE (CCC), 2015, : 4373 - 4378
  • [32] A 4-Degree-of-Freedom Parallel Origami Haptic Device for Normal, Shear, and Torsion Feedback
    Williams, Sophia R.
    Suchoski, Jacob M.
    Chua, Zonghe
    Okamura, Allison M.
    IEEE ROBOTICS AND AUTOMATION LETTERS, 2022, 7 (02) : 3310 - 3317
  • [33] A Novel Kinematic of a 4 d.o.fs Haptic Device Based on the Delta Robot Architecture
    Saafi, Houssem
    Preault, Celestin
    Laribi, Med Amine
    Zeghloul, Said
    ADVANCES IN SERVICE AND INDUSTRIAL ROBOTICS, 2018, 49 : 699 - 706
  • [34] Development of Functional Recovery Training Device with Parallel Mechanism for Hemiplegic Fingers
    Yu, Yong
    Iwashita, Hisashi
    Kawahira, Kazumi
    Hayashi, Ryota
    2014 WORLD AUTOMATION CONGRESS (WAC): EMERGING TECHNOLOGIES FOR A NEW PARADIGM IN SYSTEM OF SYSTEMS ENGINEERING, 2014,
  • [35] Design optimization of active scanning probe using parallel link mechanism
    Harada, Takashi
    Dong, Ke
    Itoigawa, Tomoyuki
    INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING, 2012, 13 (08) : 1387 - 1394
  • [36] Parallel link mechanism using multi drive linear motors (2nd report, impedance control of the redundantly actuated parallel link mechanism)
    Harada T.
    Nagase M.
    Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 2010, 76 (770): : 2656 - 2662
  • [37] Development of a Spherical Parallel Manipulator as a Haptic Device for a Tele-operation System: Application to Robotic Surgery
    Saafi, H.
    Laribi, M. A.
    Zeghloul, S.
    Ibrahim, M. Y.
    39TH ANNUAL CONFERENCE OF THE IEEE INDUSTRIAL ELECTRONICS SOCIETY (IECON 2013), 2013, : 4097 - 4102
  • [38] Modeling of a new type of CMM using parallel-link mechanism
    Liu, DJ
    Che, RS
    Mu, HW
    Huang, QC
    PROCEEDINGS OF THE FIRST INTERNATIONAL SYMPOSIUM ON INSTRUMENTATION SCIENCE AND TECHNOLOGY, 1999, : 92 - 98
  • [39] Control of the parallel link mechanism by using hydraulic Spool-in-Clylinder
    Kitagawa, A
    Wu, CN
    Atsushi
    Kakino
    Liu, CH
    Aierken, T
    SICE 2002: PROCEEDINGS OF THE 41ST SICE ANNUAL CONFERENCE, VOLS 1-5, 2002, : 1716 - 1721
  • [40] Modeling of a new type of CMM using parallel-link mechanism
    Liu, DJ
    Che, RS
    Mu, HW
    Huang, QC
    PROCEEDINGS OF THE FIRST INTERNATIONAL SYMPOSIUM ON INSTRUMENTATION SCIENCE AND TECHNOLOGY, 1999, : 458 - 464
12345