Design of a Single Degree of Freedom Mechancal Breadboard Haptic Display
1
Matt Arcy
Masters Thesis, Northwestern University
1996 NWU
http://lims.mech.northwestern.edu/arcy-lib/master/arcymaster.ps
http://lims.mech.northwestern.edu/arcy-lib/master/arcymaster.pdf
This thesis describes the design and construction of a rotational,
single degree-of-freedom, mechanical breadboard manipulandum.  The
manipulandum is designed to study how different mechancial
configurations affect haptic display performance.  The device
described in this thesis can be operated with a transmission, or as a
direct drive device with reduced output torques.  The operator handle,
position sensors, and a magnetic particle can be placed on either side
of the transmission, allowing the effectiveness of each of the
components to be measured.  The design and construction of a linear
amplifier for both the motor and magnetic particle brake is discussed.
Three different virtual walls simulations are run on a 90 MHz PC as
benchmark tests for the manipulandum.