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

Sajeeva Abeywardena, Chao Chen

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20 Citations (Scopus)


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
Issue number3
Publication statusPublished - 1 Jun 2017


  • Haptics
  • parallel mechanisms

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