| Budget Amount *help |
¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2018: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2017: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
Fiscal Year 2016: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
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| Outline of Final Research Achievements |
A novel 3-USR parallel mechanism with large work space for haptic devices has been proposed. To realize high structural transparency, these joints are composed of 2 D.O.F. spherical parallel mechanisms. The spherical parallel mechanism is composed of 2 rigid links (output link and stationary link) and three wires. The output link is connected stationary link by universal joint and is driven by three wires. In order to realize large work space, center points of three universal joints must be placed in condition that their center points are coincident. This report proposes two evaluation indices of this in-parallel wire-driven spherical mechanism. These indices are proposed based on motion transmissibility index TIW of normal in-parallel wire-driven mechanism.
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