Proceedings of the 2016 International Conference on Mechatronics Engineering and Information Technology

Configuration design and performance analysis of a force feedback operating rod based on 3-RRR spherical parallel mechanism

Authors
Zhiming Wei, Dongtao Ma, Anping Tuo, Faduo Xu
Corresponding Author
Zhiming Wei
Available Online August 2016.
DOI
10.2991/icmeit-16.2016.75How to use a DOI?
Keywords
3-RRR spherical mechanism, Force feedback Operating rod, dexterity Task space.
Abstract

According to the design requirements that the operating rod should provide a sensing capability to make the operator at the remote end be personally on the scene, in this paper, we propose a force feedback operating rod equipped with 3-RRR spherical parallel mechanism as the basic configuration by analyzing the configuration of a variety of operating rods. Through the analysis of the forward and inverse kinematics and statics of the 3-RRR spherical parallel mechanism, we determined the force / torque mapping calculation method of the static calculation, joint space and operation space of the force feedback operating rod. On this basis, taking the mechanism dexterity determined by Gosselin method as an indicator, we integrated the size of force feedback operating rod of 3-RRR mechanism. Finally, through the simulation analysis of the force transmission performance, we proved that the mechanism has good torque-isotropic degree in the middle area of the working space, so as to determine the task space of the force feedback operating rod.

Copyright
© 2016, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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Volume Title
Proceedings of the 2016 International Conference on Mechatronics Engineering and Information Technology
Series
Advances in Engineering Research
Publication Date
August 2016
ISBN
10.2991/icmeit-16.2016.75
ISSN
2352-5401
DOI
10.2991/icmeit-16.2016.75How to use a DOI?
Copyright
© 2016, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

TY  - CONF
AU  - Zhiming Wei
AU  - Dongtao Ma
AU  - Anping Tuo
AU  - Faduo Xu
PY  - 2016/08
DA  - 2016/08
TI  - Configuration design and performance analysis of a force feedback operating rod based on 3-RRR spherical parallel mechanism
BT  - Proceedings of the 2016 International Conference on Mechatronics Engineering and Information Technology
PB  - Atlantis Press
SP  - 393
EP  - 404
SN  - 2352-5401
UR  - https://doi.org/10.2991/icmeit-16.2016.75
DO  - 10.2991/icmeit-16.2016.75
ID  - Wei2016/08
ER  -