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
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