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Volume 31 Issue 07
Jul.  2005
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Journal of Beijing University of Aeronautics and Astronautics  > 2005  >  31(07): 753-756.
Guo Xin, Guo Weidong, Zhang Yuruet al. Reverse driving character of 2-DOF closed chain haptic device[J]. Journal of Beijing University of Aeronautics and Astronautics, 2005, 31(07): 753-756. (in Chinese)
Citation: Guo Xin, Guo Weidong, Zhang Yuruet al. Reverse driving character of 2-DOF closed chain haptic device[J]. Journal of Beijing University of Aeronautics and Astronautics, 2005, 31(07): 753-756. (in Chinese)
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Reverse driving character of 2-DOF closed chain haptic device

  • School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

  • Received Date: 30 Oct 2004
  • Publish Date: 31 Jul 2005
    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.

     

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  • [1] Laycock S D, Day A M. Recent developments and applications of haptic devices . Computer Graphics Forum, 2003, 22(3):117~132 [2] Cavusoglu M C, Feygin D, Tendick F. A critical study of the mechanical and electrical properties of the PHANToMTM haptic interface and improvements for high performance control[J] Presence,2002,11(6):1~18 [3] Stocco L J, Sacudean S E, Sassani F. Optimal kinematic design of a haptic pen[J] IEEE/ASME Trans on Mechatronics, 2001, 6(3):210~220 [4] 郭卫东,张玉茹. 两自由度触觉交互装置设计与分析[J] 中国机械工程,2004,5(15):438~441 Guo Weidong, Zhang Yuru. Design and analysis of 2-DOF haptic interactive device[J] China Mechanical Engineering, 2004, 5(15):438~441(in Chinese) [5] Vlachos Kostas, Papadopoulos Evangelos, Mitropoulos D N. Mass/inertia and joint friction minimization for a low–force five–dof haptic device .In:Proceedings of the 2004 IEEE International Conference on Robotics & Automation . New Orleans, 2004.286~291
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