Skip to Main Content
In this paper, a new parallel link mechanism ldquoDELTA-4rdquo 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 ldquoDELTArdquo, 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.