By Topic

Design and analysis of a new haptic device using a parallel mechanism

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Jungwon Yoon ; Dept. of Mechatronics, KwangJu Inst. of Sci. & Technol., South Korea ; Ryu, J.

Presents the design and analysis of a 6 degree-of-freedom new haptic device for interfacing with virtual reality by using a parallel mechanism. The mechanism is composed of three pantograph mechanisms that are driven by ground-fixed servomotors and stand perpendicularly to the base plate, three spherical joints between the top of the pantograph mechanisms and connecting bars, and three revolute joints between connecting bars and a mobile joystick handle. Forward and inverse kinematic analyses have been performed and the Jacobian matrix is derived. Performance indices such as GPI (global payload index), GCI (global conditioning index), translation and orientation workspaces, and sensitivity are evaluated to find optimal parameters in the design stage. The proposed haptic mechanism has better load capability than those of pre-existing haptic mechanisms due to the fact that motors are fixed at the base. It has also wider orientation workspace mainly due to a RRR type spherical joint

Published in:

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on  (Volume:2 )

Date of Conference:

2000