Abstract
In this paper, we intend to design a force-feedback device that meets the requirements in workspace. First, based on the modified Delta mechanism, we introduced a chain offset angle that is defined as alpha. We established the positive and inverse kinematics model by the vector method. According to the inverse kinematics formula, envelope body equation of single-open-chain subspace was deduced. We drew the geometric shape of the subspace under three situations while L1 was more than or equal to or less than L2. Then the influence of alpha on the whole workspace and mechanism size is deeply discussed. The cross section view of the space was also plotted by MATLAB. Finally, we gave an example using the Jacobin matrix condition number as the mechanism performance index for dimensional synthesis. The results show that the workspace meets the requirements well.
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