Parallel haptic joystick system

A 6 degree-of-freedom parallel haptic joystick system, used in connection with computer, comprising:

• a mechanism unit with a certain degree-of-freedoms;
• a control unit for inputting the location data and direction data, occurring during the operation of said mechanism unit, into computer, and manipulating said mechanism unit in accordance with the outputs of the calculation of the force or torque from computer for the sake of user's perception;
• said mechanism unit comprising a first linkage mechanism and a second linkage mechanism connected in series;
• wherein, said first linkage mechanism includes:
• a base frame forming the base plane;
• plurality of first proximal link, each of one end of said first proximal link is connected to said base frame at a certain angle by way of pin joint;
• plurality of first distal link, each of said distal link is connected to the other end of said first proximal link by way of pin joint;
• and
• a first platform connected to the other end of said first distal link by way of pin joint, said first platform has 3 degree-of-freedoms of two translational motions along the x-axis and y-axis, and one rotational motion about z-axis which is perpendicular to the base plane;
• and,
• wherein, said second linkage mechanism includes:
• a certain number of second proximal link, each of one end of said second proximal link is connected to said first platform;
• a certain number of second distal link, each of said second distal link is connected to the other end of said second proximal link by way of pin joint;
• and
• a second platform connected to the other end of said second distal link by way of ball joint, said second platform has 3 degree-of-freedoms of one translational motion along the z-axis and two rotational motions about x-axis and y-axis, relative to the first platform.