Based on the model, DHD ( Delta Haptic Device(DHD) ) is able to reveal the contact force through touching the virtual soft object. 在此模型的基础上,利用DELTA手控器,对柔性物体接触变形以及实时虚拟力反馈进行半物理仿真。
Independent translational and rotational kinematic models of a Delta and 3-RRR mechanism based double parallel haptic device were established and the corresponding Jacobean matrixes were derived respectively. Calculation methods of local dexterity and global dexterity were presented. 建立了基于Delta和3-RRR复合结构的双并联式主手平动与转动独立的运动学模型,并推导出各自的雅可比矩阵,给出了局部灵巧度和全局灵巧度的计算方法。