Title: A hybrid actuation system for haptic interfaces
Abstract: The design and control of a 5. 5Nm maximal torque, 17. 75kN/m2 torque density hybrid actuator for haptic feedback devices are presented. The system employs two unidirectional magneto-rheological fluid based brakes and a DC motor. The brakes are coupled to opposite overrunning clutches. By these means, each brake can generate a torque only in a defined direction. Thus, when both a brake and a motor are engaged to constrain the motion of the end-effector, the brake does not block the motor. Theoretical results demonstrate that the system generates less friction and presents less inertia compared to a DC motor associated to an ideal capstan transmission. The proposed control laws determine the shear of efforts between the brakes and the motor in terms of stiffness and energy of the virtual environment, in order to achieve high torque capability while maintaining stability and safety. The control laws do not necessitate a measure of interaction forces. Besides, the design of the actuator and the control laws are completely independent of the virtual environment allowing for the implementation of the system in many different haptic feedback devices.
Publication Year: 2013
Publication Date: 2013-01-01
Language: en
Type: dissertation
Access and Citation
Cited By Count: 1
AI Researcher Chatbot
Get quick answers to your questions about the article from our AI researcher chatbot