Abstract

Force feedback interfaces for virtual reality are required to be “transparent”, which means that the interfaces must be light in weight but strong in stiffness. We introduced a new 6-dof parallel manipulator with such a feature. As compared to all existing 6-dof 3-legged parallel manipulators, this new system has all actuators located on the ground for a very light structure. The system has a considerably simple kinematics relationship. Another feature is that the system's interior singularity is independent on the position of the end-effector. The complete direct and inverse kinematics analysis, and workspace analysis are given in this work.

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