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A haptic device DELTA-4: Kinematics and its analysis

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4 Author(s)
Arata, J. ; Nagoya Inst. of Technol., Nagoya ; Kondo, H. ; Sakaguchi, M. ; Fujimoto, H.

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.

Published in:

EuroHaptics conference, 2009 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2009. Third Joint

Date of Conference:

18-20 March 2009