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Abstract: Motor Selection and Damper Design for a Six Degree of Freedom Haptic Display
Motor Selection and Damper Design for a Six Degree of Freedom Haptic Display
Chris L. Kapuscinski
Master's thesis, Department of Mechanical Engineering, Northwestern University, March, 1997.
© 1997 NWU.
Personal use of this material is permitted. However, permission to
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from Northwestern University.
Abstract:
The overall thrust of this research was to design a motor/damper
system for a proposed six degree of freedom haptic device designed by
Burns [2]. First, the thesis addresses the importance of damping in
providing stable and "real" touch feedback to the user. Second, the
work addresses motor issues regarding advantages/disadvantages to
brushed versus brushless motors, different commutation methods, and
position feedback sensors. Finally, damper design issues are
discussed. These issues include: 1) torque sensor selection and
setup, 2) cancellation of noise caused by internal and external loads,
and 3) advantages of damper adjustability.
You can download a postscript copy of this thesis in three parts:
Pages 1-30
Pages 31-60
Pages 61-77
or you can download the
PDF version.
