Implementation and evaluation of a three-legged six-degrees-of-freedom parallel mechanism as an impedance-type haptic device

Sajeeva Abeywardena; Chao Chen

doi:10.1109/TMECH.2017.2682930

Implementation and evaluation of a three-legged six-degrees-of-freedom parallel mechanism as an impedance-type haptic device

Sajeeva Abeywardena, Chao Chen

Mechanical & Aerospace Engineering

Research output: Contribution to journal › Article › Research › peer-review

16 Citations (Scopus)

Abstract

The Monash Epicyclic Parallel Manipulator (MEPaM) is a three-legged six-degrees-of-freedom (dof) parallel mechanism with base mounted actuators. Due to the architecture of MEPaM, a closed form solution to the direct geometric problem was obtained. The concepts of Z-Width and transparency were used to analyze the performance of MEPaM as a haptic device. It was found that the Z-Width is superior to two out of three commercially available six-dof haptic devices. Closed-loop control was found to provide the most transparent interaction.

Original language	English
Article number	7879363
Pages (from-to)	1412-1422
Number of pages	11
Journal	IEEE/ASME Transactions on Mechatronics
Volume	22
Issue number	3
DOIs	https://doi.org/10.1109/TMECH.2017.2682930
Publication status	Published - 1 Jun 2017

Keywords

Haptics
parallel mechanisms

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10.1109/TMECH.2017.2682930

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Implementation and evaluation of a three-legged six-degrees-of-freedom parallel mechanism as an impedance-type haptic device

Abstract

Keywords

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