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.
|ジャーナル||Proceedings - IEEE International Conference on Robotics and Automation|
|出版ステータス||出版済み - 2009|
|イベント||2009 IEEE International Conference on Robotics and Automation, ICRA '09 - Kobe, 日本|
継続期間: 5月 12 2009 → 5月 17 2009
!!!All Science Journal Classification (ASJC) codes