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X thrust Y thrust
Introduction
Asymmetric Acceleration Drive in Various Directions on a Plane Using 2-DOF Linear Oscillatory Actuator Takamichi Yoshimoto, Yoshinori Kono, Katsuhiro Hirata
OSAKA
UNIVERSITY
Results
Conclusion
Proposed Actuator
Hirata Laboratory – Intelligent Actuators and Sensors
Basic Structure and Operating Principle
Analyzed Model and Condition
• Proposal linear oscillatory actuator that can be driven in various directions on a plane.
• Clarification of the dynamic characteristics of the actuator under asymmetric acceleration –method for non-grounded unidirectional force feedback- drive by using 3-D FEM analysis.
Haptic -sense of touch- feedback devices without grounded structure have been designed recently. However, these devices are not suitable for incorporation into mobile devices because of their size or require complex control.
2. Dynamic Analysis
1. Static Analysis
X axis drive Y axis drive
Biaxial drive
x y
z Coils
Maximum RMS current (A) 0.8
Coil 1 resistance () 3.8
Coil 2 resistance () 4.3
Number of turns (turn) 188
X axis
Mass of mover (g) 44.4
Spring constant (N/mm) 75.32
Viscous damping coefficient (N·s/m) 0.32
Y axis
Mass of mover (g) 52.8
Spring constant (N/mm) 75.32
Viscous damping coefficient (N·s/m) 0.32
Number of elements 550,800
Number of edges 650,493
Number of unknown variables 634,805
Number of steps 9999
Time division (μsec) 200
Total CPU time (hours) 600
Intel Core™i7, CPU 3.06GHz
• Small-sized two-DOF oscillatory actuator is proposed. • The static and dynamic characteristics of the actuator
are calculated by 3-D FEM. Asymmetric acceleration for illusion of haptic feedback can be observed.
• In the near future, we will make a prototype and verification of this actuator’s dynamic characteristics will be conducted by comparing the empirical data with that from 3-D FEM analysis.
Magnet
Stator yoke
Y-coil
X-coil
Stator
Mover Mover yoke
x
y
z Magnetization
N
N S
S
Force
-8.0
-4.0
0.0
4.0
1.80 1.85 1.90 1.95 2.00
acce
lera
tion
(m
/s2)
-6.0
-3.0
0.0
3.0
6.0
1.80 1.85 1.90 1.95 2.00
vo
ltag
e (V
)
-8.0
-4.0
0.0
4.0
1.80 1.85 1.90 1.95 2.00
acce
lera
tio
n (
m/s
2)
-6.0
-3.0
0.0
3.0
6.0
1.80 1.85 1.90 1.95 2.00
vo
ltag
e (V
)
-8.0
-4.0
0.0
4.0
1.80 1.85 1.90 1.95 2.00
acce
lera
tio
n (
m/s
2)
-6.0
-3.0
0.0
3.0
6.0
1.80 1.85 1.90 1.95 2.00
vo
ltag
e (V
)
-6.0-3.00.03.06.0
1.28 1.33 1.38 1.43 1.48
time(s)
x axis y axis
-6.0-3.00.03.06.0
1.28 1.33 1.38 1.43 1.48
time(s)
x axis y axis
1. Back Ground and Previous Research
2. Application of Haptic Feedback
-6.0-3.00.03.06.0
1.28 1.33 1.38 1.43 1.48
time(s)
x axis y axis
-6.0-3.00.03.06.0
1.28 1.33 1.38 1.43 1.48
time(s)
x axis y axis
-6.0-3.00.03.06.0
1.28 1.33 1.38 1.43 1.48
time(s)
x axis y axis
-6.0-3.00.03.06.0
1.28 1.33 1.38 1.43 1.48
time(s)
x axis y axis-0
.5-0
.4-0
.3-0
.2-0
.10 0.1 0.2 0.3 0.4 0.5
0.0
2.0
4.0
6.0
8.0
-0.5
-0.4
-0.3
-0.2
-0.1 0
0.1
0.2
0.3
0.4
0.5
y position(mm)
y t
hru
st(N
)
x position(mm)
-0.5
-0.4
-0.3
-0.2
-0.10
0.1
0.2
0.3
0.4
0.5
-20
-10
0
10
20
-0.5-0.4-0.3-0.2-0.1
00.10.20.30.40.5
y position(mm)
x t
hru
st(N
)
x position(mm)
-0.5
-0.4
-0.3
-0.2
-0.1
0 0.1 0.2 0.3 0.4 0.5
-20
-10
0
10
20
-0.5
-0.4
-0.3
-0.2
-0.1 0
0.1
0.2
0.3
0.4
0.5 y position(mm)
y t
hru
st(N
)
x position(mm)
-0.5
-0.4
-0.3
-0.2
-0.10
0.1
0.2
0.3
0.4
0.5
0.0
2.0
4.0
6.0
8.0
-0.5-0.4-0.3-0.2-0.1
00.10.20.30.40.5
y position(mm)
x t
hru
st(N
)
x position(mm)
Navigation device for visually impaired people
CAD,Computer game
Grounded type ○Precisely force control ○Multi-DoF ☓Necessary to fix
Non-Grounded type ○Portable ☓Complex control ☓Can’t generate unidirectional force
The thrust of the mover is calculated using the Maxwell stress tensor method, and is substituted into motion equations. The position of the mover is calculated at each time step.
Using the proposed actuator, drive to obtain haptic feedback was simulated. A voltage that generates a asymmetric acceleration was applied.
These results show this actuator has good controllability that doesn't depend on the position of the mover.
De
ten
t fo
rce
Cu
rre
nt fo
rce
When both axes were operated concurrently, the acceleration waveform has almost the same shape as during single axis drive. These results show that the generation of asymmetric oscillation in various directions on a plane is possible.
In single axis drive, an asymmetric acceleration observed without interference between the axes.