Force producibility improvement of redundant parallel mechanism for haptic applications

Jumpei Arata, Norio Ikedo, Hideo Fujimoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

Haptic device has attracted attention over the years for the growing demand in industrial, research and consumer use. As mechanical performance of haptic device, wide range of working area, wide bandwidth of generating force, number of Degrees Of Freedom (DOF) and compact size are generally desirable. Parallel mechanism has been widely introduced to haptic device for advantageous benefits such as a high rigidity, a high output force, a high accuracy and a high backdrivability by its multi-legged structure and fixed actuators on the base. In parallel mechanism, the arm configuration can be asymmetric depending on the position, and thus it influences to the force producibility - an ability of force generation. Therefore, an evaluation on the force producibility is a critical issue for a further development of haptic device using parallel mechanism. In this paper, we propose a new approach for improvement of force producibility on a redundant parallel mechanism by using its redundant DOF. Our previously presented redundant parallel mechanism, DELTA-R, was used to show the feasibility of the concept. The forward kinematic model of DELTA-R was modified to decouple the output of X and Y axes to two arms, in taking into account the geometric conditions. In the proposed model, the output of X and Y axes are decoupled to two arms, and the effectiveness was tested in analytical and experimental manners. In addition, to adequately address the force producibility of parallel mechanism for haptic applications, we propose an evaluation technique, Extremal Force Diagram (EFD).

Original languageEnglish
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages2145-2150
Number of pages6
DOIs
Publication statusPublished - Dec 29 2011
Externally publishedYes
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: Sep 25 2011Sep 30 2011

Other

Other2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
CountryUnited States
CitySan Francisco, CA
Period9/25/119/30/11

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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    Arata, J., Ikedo, N., & Fujimoto, H. (2011). Force producibility improvement of redundant parallel mechanism for haptic applications. In IROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics (pp. 2145-2150). [6048405] https://doi.org/10.1109/IROS.2011.6048405