Forward Position Analysis of Parallel Mechanisms in Novint Falcon Haptic Device
PubDate: December 2021
Teams: Shanghai Institute of Technology
Writers: Xing Chen; Jiayong Cao; Shihao Wu; Qianli Ma
PDF: Forward Position Analysis of Parallel Mechanisms in Novint Falcon Haptic Device
Abstract
Novint Falcon haptic device has been widely used in robot teleoperation, game, virtual reality man-machine interface and other fields. However, the existing research basis of analytical solution analysis of forward kinematics of Novint Falcon haptic device is not discussed. The forward kinematics expression of the haptic device was deduced. Given a set of forward kinematics input angles, a forward position kinematics simulation is performed. It provides a theoretical basis for the work space analysis, structural parameters optimization, trajectory planning, dynamics and motion control of the haptic device.