Abstract
In recent years, parallel mechanisms have been widely introduced to haptic devices 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. On the other hand, multi-DOF haptic devices including rotational motions are getting important in recent years as haptic applications have grown more diverse as typified by a surgical training system. However, realizing a multi-DOF haptic device within a wide range of rotational working area by using parallel mechanism is a challenging work. In this paper, a 6 DOF (3 translations, 2 rotations and 1 passive rotation) parallel mechanism D-8 is presented to overcome this challenge. © 2010 Springer-Verlag.
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CITATION STYLE
Arata, J., Ikedo, N., & Fujimoto, H. (2010). A new multi-DOF haptic device using a redundant parallel mechanism. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 6191 LNCS, pp. 57–64). https://doi.org/10.1007/978-3-642-14064-8_9
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