抄録
Nowadays desktop interaction which intends to construct an effective human computer interface is becoming promising technology. Force display is an important element to set up a user-friendly man-machine interaction system (e. g. haptic interface system). A haptic device with force feedback consists of an adequate motion base to generate force/torque corresponding to expected tactile sense. To display force easily and conveniently by means of a simple mechanism, we focus attention on the static characteristics of an omnidirectional mobile robot and prototype a spacial 6-DOF motion base. The overall structure of the 6-DOF mechanism consists of combination of a 3-DOF additional mechanism and a planar 3-DOF omnidirectional mechanism. This paper presents the mechanism of the prototype of the spacial 6-DOF motion base, the kinematics and the statics analysis of the mechanism, and the preliminary experiment to estimate performance of the force display.
