紧凑的六自由度触觉界面设计

Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI:10.1109/ROBOT.1998.680730

Y. Tsumaki, H. Naruse, D. Nenchev, M. Uchiyama

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引用次数: 130

摘要

本文提出了一种具有大工作空间的紧凑型六自由度触觉接口。它包含一个新开发的五杆空间框架机构定位，放置在一个改进的Delta并联连杆机构。五杆机构各轴运动范围超过/spl plusmn/70度。由于改进的Delta子结构和五杆子结构固有的平行性，可以很容易地实现快速运动。

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Design of a compact 6-DOF haptic interface

In this paper we propose a new compact 6-DOF haptic interface with large workspace. It contains a newly developed five bar spatial gimbal mechanism for orientation, placed on a modified Delta parallel-link mechanism. The motion range of each axis of the five bar mechanism is over /spl plusmn/70 degrees. Quick motions can be realized easily due to the parallelism inherent to both the modified Delta substructure and the five bar substructure.

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Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)

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