Kinematic and static analysis of a cable-driven 3-DOF delta parallel mechanism for haptic manipulators

With the rapid development of virtual reality technology, a variety of haptic devices have been designed and applied in the human computer interaction. The parallel mechanism is widely employed due to its high stiffness and resolution. However, its kinematics and dynamics are more complex than its s...

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Bibliographic Details
Published in2015 34th Chinese Control Conference (CCC) pp. 4373 - 4378
Main Authors Jianlong, Hao, Guibin, Bian, Xiaoliang, Xie, Zengguang, Hou, Hongnian, Yu
Format Conference Proceeding Journal Article
LanguageEnglish
Published Technical Committee on Control Theory, Chinese Association of Automation 01.07.2015
Subjects
Algorithms
Compensation
Computer simulation
Delta
Deltas
Gravitation
Gravity
Gravity Compensation
Haptic interfaces
Haptics
Jacobian matrices
Joints
Kinematics
Manipulators
Robot arms
Static Analysis
Torque
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Summary:With the rapid development of virtual reality technology, a variety of haptic devices have been designed and applied in the human computer interaction. The parallel mechanism is widely employed due to its high stiffness and resolution. However, its kinematics and dynamics are more complex than its serial counterpart since the parallel links are mechanical coupled. Specially, it is of great significance to make an accuracy gravity compensation for haptic manipulator on which the haptic transparency relies. This paper introduces a cable driven 3-DOF delta parallel mechanism for haptic manipulator and presents the forward and inverse kinematics analyses including the Jacobian matrix and the singularities. According to the principle of virtual work, the static model of the delta parallel manipulator is established and based on this, a practical algorithm for gravity compensation is proposed. The efficiency of the gravity compensation algorithm is validated by the simulation with ADAMS software.
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ISSN:2161-2927
1934-1768
DOI:10.1109/ChiCC.2015.7260317