Open document
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General information |
| Author |
Kim, Han Sung |
| Published |
InTech Open Access Publisher, 2012
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| Abstract |
In this paper, a kinematically redundant parallel
haptic device with large workspace is presented. The
haptic device has a similar kinematic structure to the wellknown
Delta manipulator. However, it has a special
arrangement of actuators and one redundant actuator
added to the third leg. The proposed haptic device has
essentially 4‐DOF, however, only three translational DOF
are used for 3‐DOF positioning and force reflection, and
one rotational DOF by the redundant actuator is used to
increase well‐conditioned workspace. If the redundant
actuator’s angle is controlled to follow x and y position, the
haptic device has a large cylindrical workspace and can
maintain good kinematic and statics performance over the
whole workspace. The kinematics and workspace are
analysed, and the optimal design method of finding
minimum link lengths to satisfy prescribed workspace is
presented. Finally, the prototype haptic device and control
experiment result are presented. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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