Publication

Hanyang University HumanRobotics Lab

International Journal
Design and Experimental Verification of a 3-DOF Spherical Electromagnetic Brake for Haptic Interface
Journal
International Journal of Control, Automation and Systems
Vol
Vol. 18, No. 5
Page
pp. 1299-1309
Author
H. Iqbal, B.-J. Yi
Year
2020
Date
2020.07.20
File
Design and Experimental Verification of a 3-DOF Spherical Electromagnetic Brake for Haptic Interface.pdf (1.9M) 3회 다운로드 DATE : 2020-10-19 14:17:54
Abstract: Electromagnetic brake is an efficient device that provides damping to stop the undesired motion of the manipulator. A spherical design of electromagnetic brake is presented with a simple and compact alternative for haptic application. The model exploits coulomb friction to generate fully controllable braking in 3-DOF rotational motion. For miniaturized applications, the design can provide significant torques while rejecting unwanted heat generated in the actuator. In this paper, the analytical models of magnetic force and friction moment are derived, and the brake design is optimized for maximizing the force to input power ratio. The spherical electromagnetic brake is applied for haptic interface and its performance is justified by the experimental results in the virtual reality environment.