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A novel haptic device which is characterized by large workspace,high rigidity,simple kinematicsand easy construction is presented.This device is a parallel mechanism which is composed of a baseplate,three sub-chains,and a mobile plate.Each sub-chain is attached to the base plate through a pinjoint and to the top plate through a spherical joint.The sub-chain is derived from and kinematically e-quivalent to a pantograph linkage but is redesigned to solve the difficult problem of motor-fitting.Thespherical joint is of the ball-in-socket type,but has much larger workspace than its regular counterpart.The kinematics is analyzed,and the inverse kinematics analysis is performed with a geometric approach.The complete workspace is readily obtained with the spherical coordinate system searching method.Theoptimal value of the cone angle of the spherical joint is shown to be 100~.
A novel haptic device which is characterized by large workspace, high rigidity, simple kinematics and easy construction is presented. This device is a parallel mechanism which is composed of a base plate, three sub-chains, and a mobile plate. Each sub-chain is attached to the base plate through a pinjoint and to the top plate through a spherical joint. The sub-chain is derived from and kinematically e-quivalent to a pantograph linkage but is redesigned to solve the difficult problem of motor-fitting. the ball-in-socket type, but with much larger workspace than its regular counterpart. kinematics is analyzed, and the inverse kinematics analysis is performed with a geometric approach. The complete workspace is distinguished with the spherical coordinate system searching method. value of the cone angle of the spherical joint is shown as be 100 ~.