Linear-Shaft Haptic Transmission for Large 3D Workspace
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Solution Overview
Problem
Current haptic systems lack the capability to provide a large workspace with high dynamics and spatial resolution, limiting their ability to effectively simulate complex mechanical operations and interactions that require high forces and precise movement.
Innovation Solution
A haptic system with a transmission structure comprising driven linear shafts that enable translational movement of an end effector terminal, allowing for perceivable and controllable forces and movements, which can be enhanced with serial, parallel, or hybrid kinematics and additional degrees of freedom through rotatory joints and actuators.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If conventional haptic devices are used, then basic haptic feedback is provided, but large workspace with high dynamics and spatial resolution cannot be achieved
Solution Approach 1:
The haptic device is segmented into multiple independent linear shafts (first, second, and third linear shafts) that can move along different axes. Each shaft is driven independently by its own actuator, allowing the end effector to achieve complex three-dimensional motion patterns. This segmentation enables a large workspace while maintaining manageable system complexity through modular architecture.
Solution Approach 2:
The linear shafts are arranged in a nested configuration where multiple shafts are positioned along different axes (x-axis, y-axis, z-axis) and can move independently. The end effector is nested at the intersection of these shafts, allowing it to access a large three-dimensional workspace. This nesting approach maximizes workspace volume without proportionally increasing device complexity.
2Reliability
If complex mechanical operations are simulated, then interaction realism is improved, but system dynamics and response speed decrease
Solution Approach 1:
The system employs dynamic control of the linear shafts with independent actuators that can rapidly adjust position and velocity. The control system dynamically coordinates the motion of multiple shafts to simulate complex mechanical operations while maintaining high response speed. This dynamic approach allows realistic simulation of varying force profiles and motion patterns without sacrificing system responsiveness.
Solution Approach 2:
The haptic device incorporates feedback mechanisms that monitor the position, velocity, and force applied by each linear shaft. This feedback is used to dynamically adjust the actuation of shafts to accurately simulate the desired mechanical operation. The feedback loop ensures that complex interactions are rendered with high realism while maintaining appropriate response times through adaptive control.
3Measurement precision
If multiple degrees of freedom are added, then spatial resolution is improved, but device complexity increases
Solution Approach 1:
Each linear shaft is equipped with dedicated sensors and actuators that provide precise control and measurement along its specific axis. The end effector incorporates local sensing elements that can detect position and force with high resolution. This local quality approach achieves high spatial resolution without requiring overly complex global kinematics, as each degree of freedom is independently controlled and measured.
Solution Approach 2:
The linear shafts are designed with multi-functionality, serving both as structural support elements and as actuated degrees of freedom. The same shaft structure that provides mechanical support also enables precise positional control through integrated actuators. This universality reduces overall device complexity by eliminating the need for separate structural and actuation components for each degree of freedom.
Data Source
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.