A new 6-dof 3-legged parallel mechanism for force-feedback interface
Force feedback interfaces for virtual reality are required to be “transparent, which means that the interfaces must be light in weight but strong in stiffness. We introduced a new 6-dof parallel manipulator with such a feature. As compared to all existing 6-dof 3-legged parallel manipulators, this new system has all actuators located on the ground for a very light structure. The system has a considerably simple kinematics relationship. Another feature is that the system’s interior singularity is independent on the position of the endeffector. The complete direct and inverse kinematics analysis, and workspace analysis are given in this work.
parallel manipulator workspace
Chao Chen William John Heyne Daniel Jackson
Department of Mechanical and Aerospace Engineering, Monash University, Australia
国际会议
青岛
英文
539-544
2010-07-15（万方平台首次上网日期，不代表论文的发表时间）