6-DEGREE OF FREEDOM PARALLEL HAPTIC INSTRUMENT

PURPOSE: A 6-degree of freedom parallel haptic instrument is provided to offer a practical interface by using plural degree of freedom more than those of the currently used haptic instrument and to offer a parallel haptic instrument no having a load caused by a self-weight by a light and wide workin...

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Bibliographic Details
Main Authors EOM, GWANG SIK, SUH, IL HONG, YI, BYUNG JU, LEE, JAE HUN
Format Patent
LanguageEnglish
Korean
Published 22.10.2001
Edition7
Subjects
CALCULATING
COMPUTING
COUNTING
ELECTRIC DIGITAL DATA PROCESSING
PHYSICS
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Summary:PURPOSE: A 6-degree of freedom parallel haptic instrument is provided to offer a practical interface by using plural degree of freedom more than those of the currently used haptic instrument and to offer a parallel haptic instrument no having a load caused by a self-weight by a light and wide working space and the optimum designing method for the instrument. CONSTITUTION: Three bridges are located having 120-degree intervals and comprised by five links(L1¯L5), respectively, are provided. Three upper contacting points(4) exist on the upper plate away from the radius Rt based on the upper plate coordinate system and comprises globe-shaped joints being connected to a link L2 with the upper plate. Three lower contacting points(3) exist between two links(L4, L5) and comprises globe-shaped joints. Three lower operating devices(1) are located having 120-degree intervals in the vertical direction based on the reference coordinate system and are connected with a link L3. Three upper operating devices(2) are located having 120-degree intervals in the horizontal direction from the reference coordinate system in the above direction of the lower operating devices(1) and are connected with a link L1.
Bibliography:Application Number: KR20000018381