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Published in:
2020 | OriginalPaper | Chapter
Haptic Simulation of Mechanisms
Authors : Jascha Norman Paris, Jan-Lukas Archut, Mathias Hüsing, Burkhard Corves
Published in: Multibody Dynamics 2019
Publisher: Springer International Publishing
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Abstract
Mechanisms with non-uniform transmission ratios are used by humans in everyday and industrial environments. Often, these transfer or guidance mechanisms are hand-actuated. Approaches to develop ergonomic products with high perceived quality, such as Human-Centered Design, require prototypes. In order to provide prototypes of mechanisms to be designed regularly and at an early development stage, haptic feedback systems can be used to simulate virtual prototypes and make them haptically perceptible by the user. This contribution discusses challenges of this haptic simulation and introduces measures to increase overall performance. This includes an integration scheme, a passivity controller implementation, a beneficial friction model and haptic simulation of direct dynamics. Furthermore, adaptation of mechanisms during haptic simulation is presented in order to allow fast and convenient evaluation of virtual prototypes.