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�������պ����ѧѧ�� 2005, Vol. 31 Issue (07) :753-756    DOI:
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Reverse driving character of 2-DOF closed chain haptic device
Guo Xin, Guo Weidong, Zhang Yuru*
School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

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Abstract�� Reverse driving character plays an important role in evaluating the performance of haptic device, and it’s the primary rule in the mechanical design. The problem of 2-DOF haptic device design for improving reverse driving character was investigated. A 2-DOF closed chain haptic device was designed and a physical prototype was produced in the factory; Based on the physical prototype, the 2-DOF haptic device was analyzed with the method of dynamics which was called Lagrabgian equation, the reverse driving character of the haptic device was evaluated by the generalized inertia ellipsoid (GIE) which can be illustrated with graph directly. With the help of changing material of some components, the reverse driving character of the haptic device can be improved, so that an appropriate 2-DOF haptic device can be obtained in the design aftertime.
Keywords�� haptic interface   dynamics   driving     
Received 2004-10-30;
Fund:

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About author: �� ��(1979-),��,��������������,˶ʿ��, guoxin@buaa.edu.cn.
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����, ������, ������.�����ɶȱջ��������ֻ����ķ�����������[J]  �������պ����ѧѧ��, 2005,V31(07): 753-756
Guo Xin, Guo Weidong, Zhang Yuru.Reverse driving character of 2-DOF closed chain haptic device[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2005,V31(07): 753-756
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http://bhxb.buaa.edu.cn//CN/     ��     http://bhxb.buaa.edu.cn//CN/Y2005/V31/I07/753
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