To investigate the effects of mechanical design parameters on the performance of force feedback haptic devices, a representative dynamic model of the system is required. In this paper, the experimental investigations conducted on a 2DoF haptic device revealed that flexibility associated with the joints reduced the stable domain of operation considerably. Therefore, dynamic model of the investigated mechanism including the joint flexibility and physical damping is considered. The stability boundaries achieved by using the proposed flexible joint model is in good agreement with experimental results. A simplified model of the system is then developed employing a decomposition proposed in [1]. It is shown that the stability limits obtained by this simplified model give a slightly conservative but close estimate to the stability boundaries of the higher DoF flexible joint model. Such a simplified and experimentally validated model can be used for impedance-type haptic devices. The developed model makes it possible to investigate the effect of different mechanical parameters on the performance of multibody haptic systems.
Skip Nav Destination
ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
August 12–15, 2012
Chicago, Illinois, USA
Conference Sponsors:
- Design Engineering Division
- Computers and Information in Engineering Division
ISBN:
978-0-7918-4505-9
PROCEEDINGS PAPER
Dynamic Behaviour and Stability Analysis of Multibody Haptic Systems
Sara Shayan-Amin,
Sara Shayan-Amin
McGill University, Montreal, QC, Canada
Search for other works by this author on:
László L. Kovács,
László L. Kovács
McGill University, Montreal, QC, Canada
Search for other works by this author on:
József Kövecses
József Kövecses
McGill University, Montreal, QC, Canada
Search for other works by this author on:
Sara Shayan-Amin
McGill University, Montreal, QC, Canada
László L. Kovács
McGill University, Montreal, QC, Canada
József Kövecses
McGill University, Montreal, QC, Canada
Paper No:
DETC2012-71495, pp. 197-203; 7 pages
Published Online:
September 9, 2013
Citation
Shayan-Amin, S, Kovács, LL, & Kövecses, J. "Dynamic Behaviour and Stability Analysis of Multibody Haptic Systems." Proceedings of the ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 6: 1st Biennial International Conference on Dynamics for Design; 14th International Conference on Advanced Vehicle Technologies. Chicago, Illinois, USA. August 12–15, 2012. pp. 197-203. ASME. https://doi.org/10.1115/DETC2012-71495
Download citation file:
8
Views
Related Proceedings Papers
Related Articles
Handwheel Force Feedback for Lanekeeping Assistance: Combined Dynamics and Stability
J. Dyn. Sys., Meas., Control (September,2006)
Weight Sensation in Virtual Environments Using a Haptic Device With Air Jets
J. Comput. Inf. Sci. Eng (June,2003)
A Compact and Modular Laparoscopic Grasper With Tridirectional Force Measurement Capability
J. Med. Devices (September,2008)
Related Chapters
Analysis of Force Transmission Performance and Optimize Design of a 3DOF Parallel Haptic Device
International Conference on Information Technology and Management Engineering (ITME 2011)
Awareness for the Protection of Endangered Species with Augmented Reality
International Conference on Software Technology and Engineering, 3rd (ICSTE 2011)
A New Mobile Haptic Game for Dynamic Objects
International Conference on Software Technology and Engineering (ICSTE 2012)