Abstract
Recently, we are developing a haptic device consisting of a self-propelled wheeled motion base. To display force easily and conveniently by means of a simple mechanism, we focus attention on the static characteristics of an omnidirectional mobile robot and prototype a spacial 6-DOF motion base. The overall structure of the 6-DOF mechanism consists of combination of a 3-DOF additional mechanism and a planar 3-DOF omnidirectional mechanism. This paper presents the calibrations to determine the unknown gain of servo motors experimentally, a statics simulator based on the static mechanical analysis, and the result of experiments to attempt a comparison between experiment and simulation of some typical motions.
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