Title :
Design of a compact 6-DOF haptic interface
Author :
Tsumaki, Y. ; Naruse, H. ; Nenchev, D.N. ; Uchiyama, M.
Author_Institution :
Graduate Sch. of Eng., Tohoku Univ., Sendai, Japan
Abstract :
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 ±70 degrees. Quick motions can be realized easily due to the parallelism inherent to both the modified Delta substructure and the five bar substructure
Keywords :
interactive devices; 5-bar substructure; compact 6-DOF haptic interface design; five bar spatial gimbal mechanism; modified Delta parallel-link mechanism; modified Delta substructure; orientation; parallelism; quick motions; Application software; Auditory displays; Back; Computer displays; Computer graphics; Haptic interfaces; History; Master-slave; Parallel processing; Virtual reality;
Conference_Titel :
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location :
Leuven
Print_ISBN :
0-7803-4300-X
DOI :
10.1109/ROBOT.1998.680730
