This thesis investigates the potential benefits and challenges of using compliant mechanisms in the design of haptic interfaces. The benefits and challenges are presented with an emphasis on their inherent springback behavior and an active compensation approach. Design criteria for compliant mechanism joint candidates are reviewed and several joints are surveyed. Quantitative calculations of axial stiffness and maximum stress for five candidates are presented. Generalized analytical models of springback force and compensation torque are created to simulate the implementation of each joint candidate in a two degree-of-freedom planar pantograph. We use these models in the development and discussion of an analytical approach to predict the motor torques needed to actively compensate for the effects of springback. This approach relies on virtual work analyses of the haptic pantograph to determine the springback forces, compensation torques, haptic workspace, and available haptic force after compensation. A key to estimating the available haptic force is knowing that the force capability is different depending on the local springback force. If a component of the desired haptic force aligns with the springback force, then the two can work together, thus increasing the maximum magnitude of available haptic force beyond the nominal amount. Analytical and experimental results are presented. A detailed method of implementation is given along with a hardware demonstration of active compensation.

This thesis investigates the potential benefits and challenges of using compliant mechanisms in the design of haptic interfaces. The benefits and challenges are presented with an emphasis on their inherent springback behavior and an active compensation approach. Design criteria for compliant mechanism joint candidates are reviewed and several joints are surveyed. Quantitative calculations of axial stiffness and maximum stress for five candidates are presented. Generalized analytical models of springback force and compensation torque are created to simulate the implementation of each joint candidate in a two degree-of-freedom planar pantograph. We use these models in the development and discussion of an analytical approach to predict the motor torques needed to actively compensate for the effects of springback.This approach relies on virtual work analyses of the haptic pantograph to determine the springback forces, compensation torques, haptic workspace, and available haptic force after compensation. A key to estimating the available haptic force is knowing that the force capability is different depending on the local springback force. If a component of the desired haptic force aligns with the springback force, then the two can work together, thus increasing the maximum magnitude of available haptic force beyond the nominal amount. Analytical and experimental results are presented. A detailed method of implementation is given along with a hardware demonstration of active compensation.

Submitted by Valquíria Barbieri (kikibarbi@hotmail.com) on 2017-06-08T19:49:28Z No. of bitstreams: 1 DISS_2014_Luci Terezinha Kroetz Fernandes Maso.pdf: 3902005 bytes, checksum: 5aa486aebb8eec741b5c01dcb5b2afcf (MD5) / Approved for entry into archive by Jordan (jordanbiblio@gmail.com) on 2017-06-09T14:35:38Z (GMT) No. of bitstreams: 1 DISS_2014_Luci Terezinha Kroetz Fernandes Maso.pdf: 3902005 bytes, checksum: 5aa486aebb8eec741b5c01dcb5b2afcf (MD5) / Made available in DSpace on 2017-06-09T14:35:39Z (GMT). No. of bitstreams: 1 DISS_2014_Luci Terezinha Kroetz Fernandes Maso.pdf: 3902005 bytes, checksum: 5aa486aebb8eec741b5c01dcb5b2afcf (MD5) Previous issue date: 2014-12-15 / Este estudo propõe a descrição e análise dos mecanismos de junção, em nível hipotático, sob a perspectiva da linguística funcional, a fim de estabelecer uma tipologia do seu funcionamento tático-semântico em editoriais mato-grossenses representativos dos séculos XIX e XX. Para tanto, após a formação do corpus, composto de 100 textos, os editoriais foram analisados em relação às características de periodicidade dos jornais; titulação dos editoriais; abertura e encerramento dos editoriais; identificação da autoria; delimitação dos editoriais; assuntos ou temas; intenção comunicativa; tipologia textual; interlocução com o leitor e interlocução entre editoriais. Os resultados dessa etapa contribuem para a descrição dos textos da tradição discursiva focalizada, revelam expressiva similaridade entre os exemplares analisados em cada um dos períodos históricos, bem como mostram que a tradição jornalística editorial passou por alterações estruturais em sua organização textual. Na análise dos mecanismos hipotáticos de junção, de acordo com o controle das frequências token e type (BYBEE, 2003), foram constatadas as seguintes acepções, apresentadas aqui numa escala de complexidade cognitiva crescente: modal, comparativa (assimilativa, assimilativa correlativa, quantitativa ou intensiva – de igualdade, superioridade e inferioridade), conformativa, temporal (simultaneidade, anterioridade, posterioridade ou contingência), causal (causa-efeito, efeito-causa, fato-explicação, asserção-explicação), consecutiva (consecutiva correlata e não-correlata), final, proporcional, condicional (factual, contrafactual e eventual) e concessiva, destacando-se, como mais recorrentes, as comparativas. Além disso, foram constatadas ambiguidades semânticas e sintáticas. / This study aims to describe and analyze the joint mechanisms in hypotactic level, from the perspective of functional linguistics, in order to establish a typology of its tactical-semantic functioning in Mato Grosso editorial representative of the nineteenth and twentieth centuries. To do so, after the formation of the corpus, consisting of 100 texts, editorials were analyzed in relation to the characteristics of periodicity of the newspapers; titration of the editorial; opening and closing of the editorial; identification of authorship; delimitation of the editorial; subjects or themes; communicative intent; textual typology; dialogue with the dialogue between reader and editorial. The results of this stage contribute to the description of the texts focused discursive tradition, they reveal significant similarity between the samples analyzed in each of the historical periods as well, show that the editorial journalistic tradition has undergone structural changes in its textual organization. In the analysis of hypotactic mechanisms of junction according to the control of the token and type (Bybee, 2003) frequencies, the following meanings, shown here on a scale of increasing cognitive complexity were observed: modal comparative (assimilative correlative quantitative or assimilative intensive - equality, superiority and inferiority), conformative, temporal (simultaneity, anteriority, posteriority or contingency), causal (cause-effect, effect-cause-fact explanation, assertion-explanation), consecutively (consecutive and related non-related ), final, proportional, conditional (factual, counterfactual and casual) and concessive, standing out as the most recurring, the comparative ones. Furthermore, semantic and syntactic ambiguities were found.