・名古屋工業大学学術機関リポジトリは、名古屋工業大学内で生産された学術情報を電子的に収集・保存・発信するシステムです。 ・論文の著作権は、著者または出版社が保持しています。著作権法で定める権利制限規定を超える利用については、著作権者に許諾を得てください。 ・著者版フラグに「author」と記載された論文は、著者原稿となります。実際の出版社版とは、レイアウト、字句校正レベルの異同がある場合もあります。 ・Nagoya Institute of Technology Repository Sytem is built to collect, archive and offer electronically the academic information produced by Nagoya Institute of Technology. ・The copyright and related rights of the article are held by authors or publishers. The copyright owners' consents must be required to use it over the curtailment of copyrights. ・Textversion "Author " means the article is author's version. Author version may have some difference in layouts and wordings form publisher version.
In this paper, a new haptic device “DELTA-4” within a high force feedback capability and operability is proposed. DELTA-4 realizes 3 degrees of freedom of translational motions by a novel redundant parallel link mechanism. These benefits can be obtained by DELTA-4 comparing with conventional parallel mechanisms: wider working area, smaller footprint and easier access to the wide range of working area from operators. In this paper, kinematics and its analysis of DELTA-4 are introduced. In addition, an evaluation experiment of force display is presented.
パラレルリンク機構を用いた力覚提示装置DELTA-4の開発
本文_fulltext
(1.52MB)
