FIVE DEGREE-OF-FREEDOMS OF A HAPTIC DEVICE IN WHICH A PARALLEL STRUCTURE AND A SERIAL STRUCTURE ARE COMBINED FOR A REMOTE ROBOT SURGICAL OPERATION, CAPABLE OF BEING DRIVEN BY A TENDON WIRE DRIVING MECHANISM

摘要

PURPOSE: A five degree-of-freedoms of a haptic device is provided to reduce measurement-errors due to sagged joints by integrating a parallel linkage part and a serial linkage part.;CONSTITUTION: A base(101) includes a plurality of actuators and a plurality of pulleys. A driving part includes a first joint actuator, a second joint actuator, and a third joint actuator(116). A first joint(120) includes a first joint driving large-pulley(122), and a first linkage(124) and a second linkage(126) which are connected with the first joint driving large-pulley. A parallel linkage part(130) transfers the first joint according to the rotation of the first joint driving large-pulley. A second joint(150) is connected with the driving support(140) of the parallel linkage part. A third joint(160) is connected with the second joint. A driving linkage part(180) is composed of a fourth joint(170). A serial linkage part(190) serially connects the first to the fourth joints.;COPYRIGHT KIPO 2010