| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a kinesthetic sense display manipulator which has high-quality kinesthetic sense display performance, is small in size and has a wide work area. <P>SOLUTION: The kinesthetic sense display manipulator includes a manipulator base, an end effector, a driving means, and a parallel link mechanism for converting the motive force of the driving means into a three-freedom translational motion of the end effector. The end effector maintains a posture by the mechanical binding of the parallel link mechanism irrespective of a spatial position. By using the parallel link mechanism in the kinesthetic sense display device, high rigidity, a high output, high drivability, and low inertia are achieved. Thus, high-quality kinesthetic sense display can be obtained. In the parallel link mechanism, the mechanism and the driving means are arranged at one side. Thus, a small-sized multi-freedom kinesthetic sense display manipulator having a rotational freedom where two parallel link mechanisms are connected by a gimbals mechanisms is obtained. <P>COPYRIGHT: (C)2013,JPO&INPIT |
