This paper explores the design and experimental validation of a three-degree-of-freedom variable inertia generator. An inertia generator is a handheld haptic device that renders a prescribed inertia. In the mechanism proposed in this paper, three-dimensional torque feedback is achieved by accelerating three pairs of flywheels mounted on orthogonal axes. While the primary objective of this work is to design an inertia generator, this study also includes developing other functionalities for the device that exploit its torque generation capabilities. These include the ability to generate a predefined torque profile and to simulate a viscous environment through damping, which are both utilized to assess the device's performance. The device proved to accurately render the necessary torques for every functionality while presenting some limitations for damping and rendering an inertia smaller than the device's inherent inertia.

中文翻译：

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手持式转动惯量发生器的综合、动态建模、原型设计和控制


本文探讨了三自由度变惯量发电机的设计和实验验证。惯性发生器是一种手持式触觉设备，可产生规定的惯性。在本文提出的机构中，三维扭矩反馈是通过加速安装在正交轴上的三对飞轮来实现的。虽然这项工作的主要目标是设计惯性发生器，但这项研究还包括为该设备开发其他功能，以利用其扭矩生成能力。其中包括生成预定义扭矩曲线的能力以及通过阻尼模拟粘性环境的能力，这两者都用于评估设备的性能。事实证明，该设备能够准确地为每个功能提供必要的扭矩，同时在阻尼和呈现小于设备固有惯性的惯性方面存在一些限制。