ACTUATOR 2016 Manuscript B2.1


Author: Hubert Borgmann
eBook
Pages: 4
Language: English
Publication date: 01/06/2016
12.99 €
VAT included
Instant download after purchase
Adobe PDF format Adobe PDF format
Manuscript B2.1 published in Conference Proceedings ACTUATOR 2016
Design of Haptic Master Featuring Improved MR Brakes

H.G. Gang, J.W. Sohn
Kumoh National Institute of Technology, Gumi-si, South Korea

Abstract:
In this paper, a new design of haptic master featuring lightweight and low inertia configuration is proposed and its performance is evaluated experimentally. To reduce the weight and inertia of the master device, aluminium frame is designed and four haptic actuators for 3-DOF rotational motion and 1-DOF gripper motion are installed to the frame. Magneto-rheological (MR) brake, which has large braking torque with small size and lightweight, is suggested as an actuator to generate haptic feedback force. For the MR brake, dual magnetic core type is adopted to obtain large braking torque under limited size and weight. The braking torque of the proposed MR brake is evaluated experimentally according to applied input currents. After designing control algorithm, torque tracking control performance of the actuator is also investigated for desired sinusoidal input. By constructing the proposed haptic master device, the suitability of practical workspace is also evaluated by compared with that of free human wrist motion.
El vendedor asume toda la responsabilidad de esta entrada.
Hubert Borgmann, MESSE BREMEN,
Project Manager ACTUATOR, International Conference and Exhibition on New Actuators and Drive Systems, Bremen, Germany, and Editor of the ACTUATOR Conference Proceedings (www.actuator.de)
Project Manager ITHEC, International Conference and Exhibition on Thermoplastic Composites, Bremen, Germany, and Editor of the ITHEC Conference Proceedings (www.ithec.de)

If you like this ebook, you might also like:

© 2020 XinXii - GD Publishing Ltd. & Co. KG. Imprint | Terms of Use | Privacy Policy
€ Euro
International sites: German (main) | English | Spanish | French | Italian | Dutch | Portuguese | Russian