Papers by Author: Jin Tian Yun

Abstract: The two-port network theory for describing the characteristics of the haptic interface is presented; the four-channel bilateral control architecture is introduced, and two control methods named position-error-based control and direct force reflection control (PEBC & DFRC) are also presented. Two main problems caused by the coupling between position and force information for transparency improvement of the haptic interface are also be discussed and a Model-Based Force-Position Compensation Strategy to enhance the transparency of the haptic interface is proposed. By embedding the compensation unit into the DFRC architecture, the Haptic Interface could be controlled with precise position and high-fidelity force feedback.

Abstract: Because of special structure and dynamic behavior, the dynamic equations of metamorphic mechanism are variable during the process of configuration change. In order to combine dynamics analysis and structure design of metamorphic mechanisms intimately, a new method of forming dynamic model of metamorphic mechanisms is proposed based on fully Cartesian coordinate’s method and the relation between origin mechanism and sub-configuration. A new concept named origin constraint equation is introduced which can be converted into constraint equations of each sub-configuration easily by adding corresponding constraint equations of configuration change. Constraint equations commonly used in configuration change and dynamic equations of each configuration are given in the form of natural coordinates. Finally, a four-bar spherical metamorphic mechanism is used as an example to validate this dynamic modeling method.