Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 08, 2016 - June 11, 2016
In this report, a 3-USR parallel mechanism with large work space for haptic devices is proposed. In order to realize large work space, center points of three universal joints must be coincident. As these joints, 2 D.O.F. spherical parallel mechanisms are adopted. To place three spherical mechanisms in condition that centers of these mechanisms are coincident without interference of each other, one active joint of each mechanism is placed inside of the mechanism. A prototype of the mechanism are designed and fabricated. And its performance are investigated.
