Haptic Mechanical Linkage Reducing Inertia via Transducer Extraction
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Solution Overview
Problem
Existing mechanical linkages in haptic systems face inefficiencies due to inertia and positioning issues of transducers, limiting their ability to accurately model simulated environments.
Innovation Solution
A six-member mechanical linkage design featuring a ground member, connecting members, an extension member, and link members with rotational couplings and transducers, allowing for translation and rotation along specific axes, and incorporating capstan transmissions, rack and pinion mechanisms, or friction drives to enhance the system's ability to model physical behavior.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If transducers are positioned within the linkage components, then the linkage can provide monitoring and control of degrees of freedom, but the positioning creates undesirable inefficiencies and increases inertia
Solution Approach 1:
The patent extracts the transducers from within the linkage components and positions them externally on the ground member. This removal eliminates the inefficiencies caused by transducer positioning within the moving linkage, reducing inertia while maintaining the monitoring and control functions through external placement on the stationary ground member.
Solution Approach 2:
The patent introduces an intermediary mechanism (such as a cable, rod, or linkage) that connects the external transducer on the ground member to the moving components. This intermediary allows the transducer to monitor and control the degrees of freedom without being physically positioned within the moving linkage, thus maintaining functionality while reducing inertia and improving efficiency.
2Reliability
If multiple components are coupled together to form the linkage, then the linkage can model physical behavior, but coupling various components creates inertia
Solution Approach 1:
The patent extracts the transducer functions from the moving components and places them on the stationary ground member. This separation removes unnecessary mass from the moving parts of the linkage, reducing inertia while preserving the ability to model physical behavior through the remaining mechanical components.
Solution Approach 2:
The patent segments the system into stationary ground-based components (transducers, control systems) and moving linkage components. This segmentation allows the heavy transducers to remain fixed on the ground, reducing the mass and inertia of the moving linkage while maintaining the system's overall functionality for modeling physical behavior.
Data Source
AI summary
This invention relates to mechanical linkages. The claimed linkages have a plurality of members that rotationally couple an extension member to a ground member. The linkages have relatively less inefficiency caused by inertia and from the placement of transducers within the linkage. Various coupling in the linkages may be powered, providing mechanical linkages that are suitable for use in haptic systems.