Design and prototyping of a pneumatically enabled haptic device
| dc.contributor.author | Akhoondi Asadi, Alireza | |
| dc.contributor.examiningcommittee | Peng, Qingjin (Mechanical Engineering) Irani, Pourang (Computer Science) | en_US |
| dc.contributor.supervisor | Sepehri, Nariman (Mechanical Engineering) O'Brien, Sean (Mechanical Engineering) | en_US |
| dc.date.accessioned | 2017-09-05T15:23:55Z | |
| dc.date.available | 2017-09-05T15:23:55Z | |
| dc.date.issued | 2017 | |
| dc.degree.discipline | Mechanical Engineering | en_US |
| dc.degree.level | Master of Science (M.Sc.) | en_US |
| dc.description.abstract | The field of telerobotics is quickly progressing towards more intelligent and autonomous systems. Haptic devices are key tools to perform the teleoperation and are therefore an important area of research. The main objective of this thesis was to develop a new haptic device that has high force capability, low inertia, high power-to-weight ratio and small size. This haptic device uses pneumatic actuators in order to fulfill some of the mentioned characteristics. These actuators were mounted inside the structure’s arms. Each arm provides one degree of freedom. First, a number of arm-actuating configurations were introduced in order to create the necessary background for the device design. Next, the final design of the haptic device was introduced and prototyped. All the materials used in final prototype are commercially available, or can be produced using a laser cutter. This makes the device eligible for rapid prototyping. Moreover, it is able to create maximum force of 1.96 lbf (8.75 N) (in orthogonal position) while the PHANTOM Omni, commercial available haptic device similar to the developed device in terms of weight and size, has 0.75 lbf (3.3 N) maximum force capability. | en_US |
| dc.description.note | October 2017 | en_US |
| dc.identifier.uri | http://hdl.handle.net/1993/32421 | |
| dc.language.iso | eng | en_US |
| dc.rights | open access | en_US |
| dc.subject | Design, Prototyping, Haptic device | en_US |
| dc.title | Design and prototyping of a pneumatically enabled haptic device | en_US |
| dc.type | master thesis | en_US |