Design of a Passively Balanced Spatial Linkage Haptic Interface

2004 ◽  
Vol 126 (6) ◽  
pp. 984-991 ◽  
Author(s):  
R. Steger ◽  
K. Lin ◽  
B. D. Adelstein ◽  
H. Kazerooni
Keyword(s):  
Mass Production ◽  
Haptic Interface ◽  
High Fidelity ◽  
Force Interaction ◽  
Design And Implementation ◽  
Power Amplification ◽  
Control Electronics ◽  
Three Degree Of Freedom ◽  
And Control ◽  
Actuation Power

This paper describes the design and implementation of a compact high fidelity desktop haptic interface that provides three-degree-of-freedom point-force interaction through a handheld pen-like stylus. The complete haptic device combines a spatial linkage, actuation, power amplification, and control electronics in a standalone package with a footprint similar to that of a notebook computer 33cm×25cm×10cm. The spatial linkage is composed of one planar and two spherical subloops. Two versions of the spatial linkage were designed: a lightweight polycarbonate plastic version suitable for inexpensive mass production, and an aluminum and stainless steel linkage that offers greater reliability and higher stiffness. Both linkages were designed to be statically balanced over their full workspace.

Design of a Spatial Linkage Haptic Interface

2004 ◽  
Author(s):  
John Ryan Steger ◽  
Ronald M. Chung ◽  
Kevin Lin ◽  
Homayoon Kazerooni
Keyword(s):  
Digital Signal Processor ◽  
Digital Signal ◽  
High Strength ◽  
Haptic Interface ◽  
High Fidelity ◽  
Control Electronics ◽  
Embedded Pc ◽  
Three Degree Of Freedom ◽  
Haptic Simulation ◽  
And Control

This paper describes the mechanical and electrical design of a compact high fidelity desktop haptic interface that provides three-degree-of-freedom point-force interaction through a handheld pen-like stylus. The complete haptic device combines a spatial linkage, actuation, power amplification, and control electronics in a standalone package with a footprint similar to that of a notebook computer (33cm × 25cm × 10cm). The procedure used to design the statically balanced spatial linkage is explained and both an inexpensive lightweight plastic version and a high stiffness, high strength, aluminum and stainless steel version are presented. The theory and implementation of sinusoidal encoder interpolation and sinusoidal servo-motor commutation used to achieve high-fidelity haptic simulation is covered for two versions of electronic control hardware: custom hardware based on a digital signal processor (DSP) and an off-the-shelf design based on an embedded PC.

scholarly journals Design and implementation of positioning and control systems for capsule endoscopes

2020 ◽  
Vol 14 (7) ◽  
pp. 745-754 ◽  
Author(s):  
Ibrahim K. Mohammed ◽  
Bayan S. Sharif ◽  
Jeffrey A. Neasham
Keyword(s):  
Control Systems ◽  
Design And Implementation ◽  
Capsule Endoscopes ◽  
And Control

A fast mesoscale quadruped robot using piezocomposite actuators

Robotica ◽  
2012 ◽  
Vol 31 (1) ◽  
pp. 89-98 ◽  
Author(s):  
Thanhtam Ho ◽  
Sangyoon Lee
Keyword(s):  
Quadruped Robot ◽  
Continuous Operation ◽  
Circuit Board ◽  
Small Power ◽  
Creative Idea ◽  
Heading Direction ◽  
Forward Locomotion ◽  
And Control ◽  
Bounding Gait ◽  
Actuation Power

SUMMARYThis paper introduces the design, analysis, and experimental results of a fast mesoscale (12 cm length) quadruped mobile robot that employs unconventional actuators. Four legs of the robot are actuated by two pieces of piezocomposite actuator named LIPCA, which enables the robot to achieve the bounding gait with only one degree of freedom per leg. The forward locomotion is obtained by a creative idea in the design and the speed can be controlled by changing the frequency of actuators. The mechanism of power transfer has been improved in order to use the actuation power more efficiently. Two small RC-servo motors are added to control the locomotion direction. In addition, a small power supply and control circuit is developed that is fit for the robot. Our experiments show that the robot can locomote as fast as about two times its body length per second with the circuit board and a battery installed. The robot is also able to change the heading direction in a controlled way and is capable of continuous operation for 35 min.

Control Electronics and Hybrid Dynamic System-Based API for a 6-DOF Desktop Haptic Interface

1999 ◽  
Author(s):  
S. E. Salcudean ◽  
R. Six ◽  
R. Barman ◽  
S. Kingdon ◽  
I. Chau ◽  
...  
Keyword(s):  
Dynamic System ◽  
Haptic Interface ◽  
State Transitions ◽  
Hybrid Dynamic System ◽  
Finite State ◽  
Control Electronics ◽  
Six Degree Of Freedom ◽  
Electronic Hardware ◽  
Device Location ◽  
Programming Interface

Abstract A six-degree-of-freedom desktop magnetically levitated haptic interface has been developed by the authors. Its electromechanical design is described in (Salcudean and Parker, 1997). In this paper, aspects of electronic hardware architecture and the control of actuator currents are discussed. To program this device, a new low level applications programming interface (API) that models the haptic interface as a hybrid dynamic system is proposed. The user can define a finite state machine in which every state is a device impedance. State transitions occur upon the satisfaction of linear inequalities in terms of the device location, velocity and force. Examples of the use of such hybrid dynamic systems to produce haptic effects are given.

Embedded and Control Systems Design and Implementation of T-Shaped Tilt-Rotor Tri-copter

2021 ◽  
Author(s):  
Muhammad Shahzaib Atif ◽  
Zarrar Haider ◽  
Malik Muhammad Zohaib ◽  
Mirza Ali Raza
Keyword(s):  
Control Systems ◽  
Systems Design ◽  
Tilt Rotor ◽  
Design And Implementation ◽  
Control Systems Design ◽  
And Control
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