Article

1A1-A13 Development of a Modified Delta Mechanism with Variable Stiffness

May 2009
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2009:_1A1-A13_1-_1A1-A13_4

DOI:10.1299/jsmermd.2009._1A1-A13_1

Authors:

Hokkaido University

Masaru Uchiyama

Tohoku University

There are haptic devices as devices that display the virtual reality to human. It is difficult to display the feeling of tactile sense either hardness or softness on hardware in past haptic device and it cannot display both tactile sense. This paper presents the design and development of a modified delta mechanism with variable stiffness. The proposed mechanism can be used as a haptic device to display virtual force and haptics. Since the stiffness at the endpoint of the mechanism is variable, the mechanism can display hardness as well as softness of a virtual object or virtual environment. Preliminary experiments are performed to validate the variable stiffness characteristics of the mechanism.

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