Host: The Japan Society of Mechanical Engineers
Name : Mechanical Engineering Congress,Japan
Date : September 11, 2016 - September 14, 2016
In this report, a novel 3-USR parallel mechanism with large work space for haptic devices is designed. To realize high structural transparency, these joints are composed of 2 D.O.F. spherical parallel mechanisms. The spherical parallel mechanism is composed of 2 rigid links (output link and stationary link) and three wires. The output link is connected stationary link by universal joint and is driven by three wires. In order to realize large work space, center points of three universal joints must be placed in condition that their center points are coincident. To realize large work space of the triple universal joint, its structures and kinetic characteristics are investigated and compared. Besides, based on this result, a prototype of the universal joint to connect wires and rigid link is designed.
