Design of Haptic Master Featuring Improved MR Brakes
H.G. Gang, J.W. Sohn
Kumoh National Institute of Technology, Gumi-si, South Korea
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.
ACTUATOR 2016 Manuscript B2.1
Publication date: 01/06/2016
Manuscript B2.1 published in Conference Proceedings ACTUATOR 2016
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