2-DOF haptic device having a passive DOF

摘要

PURPOSE: A 2-freedom degree haptic device having the manual freedom degree is provided to perform various works even if the force reflected freedom degree is not agreed with the position deciding freedom degree, which is the freedom degree of an apparatus. CONSTITUTION: The first pulleys(413,414) rotate by fixing to brackets(411,412,416) installed on a base(401). A timing belt(415) is connected between the first pulleys operated by a motor(410) equipped with an angular sensor. The first movement block of the first prismatic joint(404) is linearly moved along the first link(402) installed parallel to the timing belt by fixing to the timing belt. The second link(403) is perpendicular to the first link and a part of the second link is connected to the first movement block. The second movement block is equipped with a linear displacement sensor(418) of the second prismatic joint(406) connected to the second link.