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

Sajeeva Abeywardena, Chao Chen

Research output: Contribution to journalArticleResearchpeer-review

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 languageEnglish
Article number7879363
Pages (from-to)1412-1422
Number of pages11
JournalIEEE/ASME Transactions on Mechatronics
Volume22
Issue number3
DOIs
Publication statusPublished - 1 Jun 2017

Keywords

  • Haptics
  • parallel mechanisms

Cite this

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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.",
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Implementation and evaluation of a three-legged six-degrees-of-freedom parallel mechanism as an impedance-type haptic device. / Abeywardena, Sajeeva; Chen, Chao.

In: IEEE/ASME Transactions on Mechatronics, Vol. 22, No. 3, 7879363, 01.06.2017, p. 1412-1422.

Research output: Contribution to journalArticleResearchpeer-review

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