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World Haptics Conference (2009)
Salt Lake City, UT, USA
Mar. 18, 2009 to Mar. 20, 2009
ISBN: 978-1-4244-3858-7
pp: 452-457
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.

H. Kondo, M. Sakaguchi, J. Arata and H. Fujimoto, "A haptic device DELTA-4: Kinematics and its analysis," World Haptics Conference(WHC), Salt Lake City, UT, USA, 2009, pp. 452-457.
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