Title :
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
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;
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
DOI :
10.1109/MESA.2010.5552009
