Mechanical brake design for passive haptic device

Date

2011-12-28

Author

Yilmaz, Serter
Konukseven, Erhan İlhan
Gurocak, Hakan

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

147
views

0
downloads

This paper explores a new mechanical brake design to be used in order to limit the motion in low cost and high force passive haptic device design. The designed mechanical brake was inspired from the working principle of a coaster brake used in bicycles. The brake consists of conic surfaces actuated by a DC motor. A leaf spring is added to the system to detect the direction of the user movement. A 1-DOF haptic interface was developed to study virtual wall collisions. Two different prototypes were manufactured with different braking torque capacities. The second prototype is smaller and has a PID controller. The aim of this novel approach is to allow the user to move the haptic tool away from inside of the virtual wall without using torque sensor when full braking force applied. Experimental results showed that the mechanical brake can be a promising alternative as a brake mechanism for passive haptic device design.

Subject Keywords

DC motors, Torque, Haptic interfaces, Springs, Force, Potentiometers, Control systems

URI

https://hdl.handle.net/11511/41544

DOI

https://doi.org/10.1109/icar.2011.6088613

Collections

Department of Mechanical Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

Application of spatial H-infinity control technique for active vibration control of a smart beam Kircali, Oemer Faruk; Yaman, Yavuz; Nalbantoglu, Volkan; Şahin, Melin; Karadal, Fatih Mutlu (2007-05-12) This study presents the design and implementation of a spatial H-infinity controller for the active vibration control of a cantilevered smart beam. The smart beam consists of a passive aluminum beam (507x51x2mm) and eight symmetrically surface bonded SensorTech BM500 type PZT (Lead-Zirconate-Titanate) patches (25x20x0.5mm). PZT patches are used as actuators and a laser displacement sensor is used as sensor. The smart beam was analytically modelled by using the assumed-modes method. The model only included t...
Sensitivity improvement strategies and applications for flexible and wearable capacitive pressure sensors Çiçek, Melih Ögeday; Ünalan, Hüsnü Emrah; Çınar, Simge; Department of Metallurgical and Materials Engineering (2022-8) Pressure sensors have attracted great interest in parallel with developments in wearable electronics, robotics, human-machine interface devices, and electronic skin. In this field, capacitive pressure sensors are gaining increasing research attention due to their high sensitivity, high stability, fast response/recovery times, and simple manufacturing routes. While capacitive pressure sensors have prominent features, there is still a long way to go before they become more common in wearable technology. Incre...
Optimal Control of a Smart Beam by Using a Luenberger Observer Onat, Cem; Şahin, Melin; Yaman, Yavuz (2013-06-26) This paper presents the design of an optimal vibration control mechanism, namely an LQR controller, with a Luenberger observer for a smart beam having surface bonded piezoelectric sensors and actuators. The approach intends to suppress the vibrations of the first flexural resonance of the smart beam. The smart beam studied was a cantilever aluminium beam with eight surface bonded Lead-Zirconate-Titanate (PZT) patches in bimorph configuration. The smart beam was excited at its first resonance frequency (appr...
Robustness Adaptive Control For a Permanent Magnet Synchronous Motor Rebouh, S.; Kaddouri, A.; Abdessemed, R.; Haddoun, A. (2011-09-10) This paper presents a vector control permanent magnet synchronous motor drive using backstepping control design. Backstopping control is proposed for replacing the existing PI controller to obtain high performance motion control systems for the speed control loop. Stability analysis based on Lyapunov theory is also performed to guarantee the convergence of the speed tracking error from all possible initials conditions. Computer simulations have been carried out in order to validate the effectiveness of the ...
Adaptive Nonlinear Control Combined With Unscented Kalman Filter for Permanent Magnet Synchronous Motor Fed by AC/DC/AC Converter Titaouine, A.; Taibi, D.; Bennis, O.; Benchabane, F.; Boumaraf, R.; Yahia, K. (2011-09-10) In this paper, a adaptive non-linear controller is presented for permanent magnet synchronous motor (PMSM) sensorless drives. The adaptive non-linear controller is designed based on an input-output feedback linearization control technique. The unscented Kalman filter is used to estimate the speed, position and load torque. The PMSM is fed by an indirect power electronics converter. This indirect converter is controlled by a sliding mode technique that enables minimization of harmonics introduced by the line...

Citation Formats

S. Yilmaz, E. İ. Konukseven, and H. Gurocak, “Mechanical brake design for passive haptic device,” 2011, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/41544.