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Dynamic Behaviour and Stability Analysis of Multibody Haptic Systems

[+] Author Affiliations
Sara Shayan-Amin, László L. Kovács, József Kövecses

McGill University, Montreal, QC, Canada

Paper No. DETC2012-71495, pp. 197-203; 7 pages
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 6: 1st Biennial International Conference on Dynamics for Design; 14th International Conference on Advanced Vehicle Technologies
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4505-9
  • Copyright © 2012 by ASME


To investigate the effects of mechanical design parameters on the performance of force feedback haptic devices, a representative dynamic model of the system is required. In this paper, the experimental investigations conducted on a 2DoF haptic device revealed that flexibility associated with the joints reduced the stable domain of operation considerably. Therefore, dynamic model of the investigated mechanism including the joint flexibility and physical damping is considered. The stability boundaries achieved by using the proposed flexible joint model is in good agreement with experimental results. A simplified model of the system is then developed employing a decomposition proposed in [1]. It is shown that the stability limits obtained by this simplified model give a slightly conservative but close estimate to the stability boundaries of the higher DoF flexible joint model. Such a simplified and experimentally validated model can be used for impedance-type haptic devices. The developed model makes it possible to investigate the effect of different mechanical parameters on the performance of multibody haptic systems.

Copyright © 2012 by ASME
Topics: Stability , Haptics



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