9 January 2008 2-DOF haptic device with DC motors and MR brakes
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Proceedings Volume 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials; 67941I (2008) https://doi.org/10.1117/12.784403
Event: ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 2007, Gifu, Japan
Abstract
This paper presents the 2-DOF haptic device in which DC motors and MR brakes are equipped. To apply MR brakes to the 2-DOF haptic device, its kinematic requirement is described by Jacobian analysis. Through the analysis, MR brakes can be used to display the damping force in a multi-DOF haptic device when it has the orthogonal Jacobian such as Cartesian manipulator. A five bar linkage type haptic device, which has the nonorthogonal Jacobian, is developed to verify the theoretical effort. Experimental results show that the five bar linkage type can't display the 2 DOF virtual environments due to its kinematic constraints, that is, nonorthogonal Jacobian.
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Jinung An, Dong-Soo Kwon, "2-DOF haptic device with DC motors and MR brakes", Proc. SPIE 6794, ICMIT 2007: Mechatronics, MEMS, and Smart Materials, 67941I (9 January 2008); doi: 10.1117/12.784403; https://doi.org/10.1117/12.784403
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