Linear-Axis Haptic End Effector for Large Dynamic Workspace
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Solution Overview
Problem
Current haptic systems lack the capability to provide a large, highly dynamic working space for haptic interaction with users, failing to deliver high forces and spatial resolution effectively.
Innovation Solution
A haptic system with a gear structure and driven linear axes that enables translational movement of the end effector, utilizing serial or parallel kinematics to enhance dynamics and control, combined with a haptic controller for processing input and generating realistic output variables.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Volume of moving object
If conventional haptic systems are used, then basic haptic feedback is provided, but large dynamic working space and high spatial resolution cannot be achieved
Solution Approach 1:
The haptic device is segmented into multiple independent linear axes (at least two, preferably three) that can be controlled separately. Each axis contributes to the overall end effector position, enabling a large working space through combinatorial movement while maintaining high spatial resolution through individual axis precision control.
Solution Approach 2:
The system employs dynamic control of multiple linear axes with independent actuators, allowing the end effector to achieve high-speed movement across a large working space. The dynamics are enhanced by coordinating the motion of multiple axes simultaneously, providing both extensive range and high spatial resolution.
2Force
If complex gear structures are used to increase forces, then haptic output force is improved, but device complexity increases
Solution Approach 1:
Complex mechanical gear structures are replaced with direct-driven linear axes using modern actuators (such as voice coil actuators, linear motors, or piezoelectric actuators). This substitution maintains high haptic output forces while significantly reducing mechanical complexity, friction, and maintenance requirements.
Solution Approach 2:
The system changes the actuation mechanism from traditional gear-based mechanical advantage to direct linear actuation with controllable force parameters. By using electronically controlled actuators on each linear axis, high forces can be generated precisely without the need for complex gear reduction mechanisms.
3Speed
If high dynamic response is required, then interaction speed is improved, but control precision may be compromised
Solution Approach 1:
The control system is segmented into independent controllers for each linear axis, allowing parallel processing of motion commands. This enables high-speed coordinated movement across multiple axes while maintaining precise control of the end effector position through individual axis feedback and control.
Solution Approach 2:
The system implements feedback control for each linear axis, using sensors to monitor position and movement of the end effector in real-time. This feedback enables high-speed operation with maintained precision by continuously adjusting actuator commands based on actual position measurements and desired trajectory.
Data Source
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AI summary
The application relates to a haptic system comprising a haptic device that has an end effector terminal and a transmission structure which can generate a translational movement as an output variable, said translational movement extending from the transmission structure to the end effector terminal via a boom such that the end effector terminal moves in a manner that is perceptible to a user, the transmission structure being formed by means of driven linear shafts. The application further relates to a method for operating a haptic system comprising a haptic device.