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Conception d'une nouvelle architecture de moteur oscillant à contact permanent

Abstract : We present a new idea of motor architecture designed expressly for the field of haptic interface design. Exploiting rigid body movement of a disc on a plane, this motor runs free of vibrations and presents an almost infinitely low speed accuracy. A single rolling contact point between the disk and a plane never stops, allowing it to run without backlash or slack and without any dead zone at low speed. Actuated by piezoceramic stacks coupled with compliant joints, a functional prototype is built and gives credence to the idea. After presenting theoretical analysis, followed by a description of the concrete mechanical and electronic hardware developed for this proof of concept, the motor prototype tests and qualifications are presented and analysed.
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Submitted on : Friday, March 25, 2022 - 12:04:08 PM
Last modification on : Sunday, March 27, 2022 - 3:54:52 AM


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  • HAL Id : tel-03619718, version 1


Bernard Javot. Conception d'une nouvelle architecture de moteur oscillant à contact permanent. Automatique / Robotique. Université Pierre et Marie Curie - Paris VI, 2016. Français. ⟨NNT : 2016PA066751⟩. ⟨tel-03619718⟩



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