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김재원(Jaewon Kim),하만수(Mansu Ha),김도균(Dogyun Kim),문정신(Jeongsin Mun),홍인호(Inho Hong),오재윤(Chaeyoun Oh) 한국자동차공학회 2013 한국자동차공학회 지부 학술대회 논문집 Vol.2013 No.5-1
This paper proposes a method that can be used to derive the equation of motion of a haptic system via a simple experiment. In order to prove the reliability of the proposed method, a 1-dof haptic system is devised. An experiment is performed using a restoring force of the spring to generate a translational force to operate the handle of the haptic system. The translational velocity, translational acceleration, and vertical load are measured while the experiment is performed. Those three measured values are used to compute the three coefficients needed to compose the equation of the motion. Those three computed coefficients are not influenced by the operating distance of the handle. However, those are influenced by the vertical load transmitted via the handle. A relationship of the coefficients with the vertical load is proposed. The reliability of the proposed method is validated by comparing the measured translational forces with the translational forces estimated from the equation of motion derived using the method proposed in this paper.