6-DEGREE OF FREEDOM PARALLEL HAPTIC INSTRUMENT

摘要

PURPOSE: A 6-degree of freedom parallel haptic instrument is provided to offer a practical interface by using plural degree of freedom more than those of the currently used haptic instrument and to offer a parallel haptic instrument no having a load caused by a self-weight by a light and wide working space and the optimum designing method for the instrument. CONSTITUTION: Three bridges are located having 120-degree intervals and comprised by five links(L1¯L5), respectively, are provided. Three upper contacting points(4) exist on the upper plate away from the radius Rt based on the upper plate coordinate system and comprises globe-shaped joints being connected to a link L2 with the upper plate. Three lower contacting points(3) exist between two links(L4, L5) and comprises globe-shaped joints. Three lower operating devices(1) are located having 120-degree intervals in the vertical direction based on the reference coordinate system and are connected with a link L3. Three upper operating devices(2) are located having 120-degree intervals in the horizontal direction from the reference coordinate system in the above direction of the lower operating devices(1) and are connected with a link L1.