A Compliant Haptic Pantograph: Springback Force Considerations
Description
This paper investigates the potential benefits and challenges of using compliant mechanisms in the design of haptic interfaces. The benefits and challenges of using compliant mechanisms are presented with an emphasis on their inherent springback behavior. Design criteria for compliant mechanism joint candidates are reviewed. Five candidates are considered and models are created to describe their implementation in a two degree-of-freedom planar pantograph. Analytical equations for springback force, compensation torques, haptic workspace, and available haptic force are developed and discussed. The derivation implements the pseudo-rigid-body model of each candidate in the forward kinematics, inverse kinematics, and virtual work analyses. Analytical and experimental results are presented.
A Compliant Haptic Pantograph: Springback Force Considerations
The Leonardo Event Center
This paper investigates the potential benefits and challenges of using compliant mechanisms in the design of haptic interfaces. The benefits and challenges of using compliant mechanisms are presented with an emphasis on their inherent springback behavior. Design criteria for compliant mechanism joint candidates are reviewed. Five candidates are considered and models are created to describe their implementation in a two degree-of-freedom planar pantograph. Analytical equations for springback force, compensation torques, haptic workspace, and available haptic force are developed and discussed. The derivation implements the pseudo-rigid-body model of each candidate in the forward kinematics, inverse kinematics, and virtual work analyses. Analytical and experimental results are presented.