A redundantly actuated planar 3-degree-of-freedom parallel mechanism is analyzed to show its high application potential as a haptic device. Its structure along with the closed form forward position solutions is briefly discussed. Then its geometric and kinematic characteristics via singularity analysis, the kinematic isotropy index, and the input-output force transmission ratio are investigated both for the redundantly actuated cases and for the non-redundantly actuated case. In addition, comparative joint torque simulations of the mechanism with different number of redundant actuations as well as without redundant actuation are conducted to confirm the improved joint torque distribution characteristics. Through these analyses it is shown that the geometric and kinematic characteristics of the redundantly actuated mechanism are superior to the ones of the mechanism without redundant actuation. Thus, it can be concluded that the suggested planar mechanism with redundant actuation has a very high potential for haptic device applications.

• 전정인(Electro-Mechanical System Engineering, Korea University at Sejong , , , ) | Jung In Jeon
• 오현석(Electro-Mechanical System Engineering, Korea University at Sejong , , , ) | Hyun Suk Oh
• 우상훈(Electro-Mechanical System Engineering, Korea University at Sejong , , , ) | Sang Hun Woo
• 김성목(Electro-Mechanical System Engineering, Korea University at Sejong , , , ) | Sung Mok Kim
• 김민건(Advanced Mechanical Engineering, Kangwon National University ) | Min Gun Kim
• 김희국 | Whee Kuk Kim Corresponding author