Abstract
This paper has developed a three degree-of-freedom (3-DOF) haptic device which has adopted parallel structure. Compared with haptic devices adopting serial structure, parallel haptic devices have low inertia, high stiffness and can transfer large force or torque. Although parallel mechanism possess advantages above mentioned and other benefits, the presence of its closed-loop structure and redundant joints make it difficult to develop a dynamic model, which is essential in creating a model-based control strategy for the device. To establish a simple dynamic model that can be easily calculated in real time, the virtual work principle is used. After derivation of the kinematic and dynamic equations, simulation using ADAMS is conducted to verify the validity of dynamic model. Given that it is highly efficient and correct, the dynamic modeling can be used for real-time force feedback control.
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