Experimental evaluation of a new braking system for use in passive haptic displays

Author

Munir, S. ; Tognetti, L. ; Book, W.J.

Author_Institution

George W. Woodruff Sch. of Mech. Eng., Georgia Inst. of Technol., Atlanta, GA, USA

Volume

6

fYear

1999

fDate

1999

Firstpage

4456

Abstract

Passive haptic displays have several advantages when compared to active devices. Safety elements associated with active haptic displays may make them undesirable for certain applications. One method of actuation for passive haptic robots is through the use of brakes and clutches. Traditionally, friction brakes have undesirable behaviour, such as stiction and delay in response time due to mechanical motion. In this study a new brake concept is proposed. The performance of this brake is evaluated and quantified through a series of controlled experiments. Particular attention is given to the phenomenon of stiction in Delrin, dynamic response of the new brake, and effectiveness of feedback control for braking torque

Keywords

braking; feedback; haptic interfaces; telerobotics; torque control; virtual reality; Delrin; braking system; dynamic response; feedback; friction brakes; haptic robot; passive haptic displays; passive trajectory enhancing robot; stiction; torque control; Actuators; Delay; Displays; Electromagnets; Friction; Haptic interfaces; Pins; Robots; Testing; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1999. Proceedings of the 1999

Conference_Location

San Diego, CA

ISSN

0743-1619

Print_ISBN

0-7803-4990-3

Type

conf

DOI

10.1109/ACC.1999.786424

Filename

786424