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World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems
A haptic device DELTA-4: Kinematics and its analysis
Salt Lake City, UT, USA
March 18-March 20
ISBN: 978-1-4244-3858-7
Jumpei Arata, Nagoya Institute of Technology, Japan
Hiroyuki Kondo, Nagoya Institute of Technology, Japan
Masamichi Sakaguchi, Nagoya Institute of Technology, Japan
Hideo Fujimoto, Nagoya Institute of Technology, Japan
In this paper, a new parallel link mechanism “DELTA-4” is developed as a new haptic device within a high quality force display capability and operability. DELTA-4 realizes 3 DOF of translational motions by a new redundant parallel link mechanism. The name of the mechanism DELTA-4 is derived from a conventional parallel link mechanism “DELTA”, because there are several common points on motion constraints of end-effector. However, these benefits can be obtained by DELTA-4: wider working area, smaller footprint, better mechanical access of end-effector from operators.
Citation:
Jumpei Arata, Hiroyuki Kondo, Masamichi Sakaguchi, Hideo Fujimoto, "A haptic device DELTA-4: Kinematics and its analysis," whc, pp.452-457, World Haptics 2009 - Third Joint EuroHaptics conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2009
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