공간형 3 자유도 Haptic 메커니즘의 구현

Implementation of A Spatial 3-DOF Haptic Mechanism

In this study, a spatial 3-dof haptic mechanism is implemented. The implemented mechanism does not employ the gear transmissions as velocity reducers for all three joints but uses wire-based transmissions, thereby it is able to minimize the frictions significantly. Also, by employing the structure of the four-bar mechanism to drive third joint from close to the base, the mechanism is able to minimize the inertia effect from the third actuator very effectively. Its kinematic analysis such as position and velocity analyses are performed first. Then, its operating software development, hardware implementation, and the related interfaces between a PC and the implemented Haptic device are completed. To evaluate its potential and its performance as a haptic device, a experiment generating a virtual constraint in a operational task space is conducted and preliminary results are discussed.