Reverse driving character of 2-DOF closed chain haptic device

Reverse driving character plays an important role in evaluating the performance of haptic device, and it s the primary rule in the mechanical design. The problem of 2-DOF haptic device design for improving reverse driving character was investigated. A 2-DOF closed chain haptic device was designed and a physical prototype was produced in the factory; Based on the physical prototype, the 2-DOF haptic device was analyzed with the method of dynamics which was called Lagrabgian equation, the reverse driving character of the haptic device was evaluated by the generalized inertia ellipsoid (GIE) which can be illustrated with graph directly. With the help of changing material of some components, the reverse driving character of the haptic device can be improved, so that an appropriate 2-DOF haptic device can be obtained in the design aftertime.