A new 6-dof 3-legged parallel mechanism for force-feedback interface

Author

Chen, Chao ; Heyne, William John ; Jackson, Daniel

Author_Institution

Dept. of Mech. & Aerosp. Eng., Monash Univ., Clayton, VIC, Australia

fYear

2010

Firstpage

539

Lastpage

544

Abstract

Force feedback interfaces for virtual reality are required to be “transparent”, which means that the interfaces must be light in weight but strong in stiffness. We introduced a new 6-dof parallel manipulator with such a feature. As compared to all existing 6-dof 3-legged parallel manipulators, this new system has all actuators located on the ground for a very light structure. The system has a considerably simple kinematics relationship. Another feature is that the system´s interior singularity is independent on the position of the end-effector. The complete direct and inverse kinematics analysis, and workspace analysis are given in this work.

Keywords

end effectors; force feedback; inverse problems; manipulator kinematics; virtual reality; 6DOF 3-legged parallel manipulator; actuators; direct kinematics analysis; end effector; force feedback interface; inverse kinematics analysis; manipulator kinematics; virtual reality; Jacobian matrices; Kinematics; parallel manipulator; workspace;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Embedded Systems and Applications (MESA), 2010 IEEE/ASME International Conference on

Conference_Location

Qingdao, ShanDong

Print_ISBN

978-1-4244-7101-0

Type

conf

DOI

10.1109/MESA.2010.5552009

Filename

5552009