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 problem of lack of rigidity of the previous mechanism for vertical translation, through a preliminary experiment, and a new design concept of 3-DOF additional mechanism alternative to previously-developed one. The design of the new mechanism consisting of a parallel mechanism and the direct kinematics of the mechanism are also described.
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