Motor Selection and Damper Design for a Six Degree of Freedom Haptic Display
1
Chris L. Kapuscinski
Master's thesis, Department of Mechanical Engineering, Northwestern University, March, 1996.
1996 NWU
http://haptic.mech.northwestern.edu/library/kapuscinski/master/chriskap.ps
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.