Advanced Search
Volume 31 Issue 07
Jul.  2005
Turn off MathJax
Article Contents
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)
shu

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.

     

    • FullText(HTML)
  • loading
    • References(1)
  • [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
    • Relative Articles
    • Supplements(0)
    • Cited By
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索
    Get Citation
    PDF
    XML

    Article Metrics

    Article views(2673) PDF downloads(852) Cited by()
    Proportional views
    Related

    Copyright © Journal of Beijing University of Aeronautics and Astronautics

    Address: Editorial Department of Journal of Beijing University of Aeronautics and Astronautics, 37 Xueyuan Road, Haidian District, Beijing Post Code: 100191 Email: jbuaa@buaa.edu.cn

    Supported by: Beijing Renhe Information Technology Co., Ltd.    

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return