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European Congress on Computational Methods in Applied Sciences and Engineering

ECCOMAS 2019: Multibody Dynamics 2019 pp 123–130Cite as

Haptic Simulation of Mechanisms

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Part of the book series: Computational Methods in Applied Sciences ((COMPUTMETHODS,volume 53))

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.

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References

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Author information

Authors and Affiliations

  1. Institute of Mechanism Theory, Machine Dynamics and Robotics, RWTH Aachen University, Steinbachstraße 53B, 52074, Aachen, Germany

    Jascha Norman Paris, Jan-Lukas Archut, Mathias Hüsing & Burkhard Corves

Authors
  1. Jascha Norman Paris
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  2. Jan-Lukas Archut
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  3. Mathias Hüsing
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  4. Burkhard Corves
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Corresponding author

Correspondence to Jascha Norman Paris .

Editor information

Editors and Affiliations

  1. Lehrstuhl für Mechanik und Robotik, Universität Duisburg-Essen, Duisburg, Nordrhein-Westfalen, Germany

    Andrés Kecskeméthy

  2. Lehrstuhl für Mechanik und Robotik, Universität Duisburg-Essen, Duisburg, Nordrhein-Westfalen, Germany

    Francisco Geu Flores

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Paris, J.N., Archut, JL., Hüsing, M., Corves, B. (2020). Haptic Simulation of Mechanisms. In: Kecskeméthy, A., Geu Flores, F. (eds) Multibody Dynamics 2019. ECCOMAS 2019. Computational Methods in Applied Sciences, vol 53. Springer, Cham. https://doi.org/10.1007/978-3-030-23132-3_15

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  • DOI: https://doi.org/10.1007/978-3-030-23132-3_15

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-23131-6

  • Online ISBN: 978-3-030-23132-3

  • eBook Packages: EngineeringEngineering (R0)

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