Forward Position Analysis of Parallel Mechanisms in Novint Falcon Haptic Device

Novint Falcon haptic device has been widely used in robot teleoperation, game, virtual reality man-machine interface and other fields. However, the existing research basis of analytical solution analysis of forward kinematics of Novint Falcon haptic device is not discussed. The forward kinematics expression of the haptic device was deduced. Given a set of forward kinematics input angles, a forward position kinematics simulation is performed. It provides a theoretical basis for the work space analysis, structural parameters optimization, trajectory planning, dynamics and motion control of the haptic device.