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Design Optimization of the Tau Haptic Device
KTH, Skolan för industriell teknik och management (ITM), Maskinkonstruktion (Inst.), Mekatronik.
KTH, Skolan för industriell teknik och management (ITM), Maskinkonstruktion (Inst.), Mekatronik. (Haptics)
KTH, Skolan för industriell teknik och management (ITM), Maskinkonstruktion (Inst.), Maskinkonstruktion (Avd.).ORCID-id: 0000-0001-6692-2794
2011 (engelsk)Inngår i: ICUMT: Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), 2011 3rd International Congress on, IEEE , 2011, s. 1-8Konferansepaper, Publicerat paper (Fagfellevurdert) [Kunstnerisk arbeiden]
Abstract [en]

The work presented in this paper is motivated by the use of haptics in medical simulation, particularly simulation of surgical procedures in hard tissue such as bone structures. In this context, characteristics such as motion, stiffness, workspace-to-footprint ratio, and low inertia are key factors in the design of a haptic device. This paper introduces a procedure for design optimization of haptic devices based on a hybrid mechanism. For design optimization, performance indices such as workspace volume, kinematic isotropy and static torque requirements indices are defined. A new multi-criteria objective optimization (MOO) function is introduced to define the optimization problem. Multi-objective algorithms are used to solve this optimization problem using the defined objective function. Furthermore sensitivity analysis of the performance indices against each design parameter is presented as a basis for selecting a final set of design parameters to develop a prototype. Finally, a CAD model and prototype of the device is developed based on the simulation results.

sted, utgiver, år, opplag, sider
IEEE , 2011. s. 1-8
Emneord [en]
Haptic devices, design optimization, TAU mechanism, genetic algorithm, modeling and simulation
HSV kategori
Forskningsprogram
SRA - Informations- och kommunikationsteknik
Identifikatorer
URN: urn:nbn:se:kth:diva-78451Scopus ID: 2-s2.0-84856179536ISBN: 978-1-4577-0682-0 (tryckt)OAI: oai:DiVA.org:kth-78451DiVA, id: diva2:492507
Konferanse
Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), 2011 3rd International Congress on
Merknad

© 2011 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. QC 20120214

Tilgjengelig fra: 2012-02-14 Laget: 2012-02-08 Sist oppdatert: 2022-06-24bibliografisk kontrollert
Inngår i avhandling
1. Model-based design of haptic devices
Åpne denne publikasjonen i ny fane eller vindu >>Model-based design of haptic devices
2012 (engelsk)Licentiatavhandling, med artikler (Annet vitenskapelig)
Abstract [en]

Efficient engineering design and development of high precision and reliable surgical simulators, like haptic devices for surgical training benefits from model-based and simulation driven design. The complexity of the design space, multi-domains, multicriteria requirements and multi-physics character of the behavior of such a product ask for a model based systematic approach for creating and validating compact and computationally efficient simulation models to be used for the design process.The research presented in this thesis describes a model-based design approach towards the design of haptic devices for simulation of surgical procedures, in case of hard tissues such as bone or teeth milling. The proposed approach is applied to a new haptic device based on TAU configuration.The main contributions of this thesis are:

  • Development and verification of kinematic and dynamic models of the TAU haptic device.
  • Multi-objective optimization (MOO) approach for optimum design of the TAU haptic device by optimizing kinematic performance indices, like workspace volume, kinematic isotropy and torque requirement of actuators.
  •  A methodology for creating an analytical and compact model of the quasi-static stiffness of haptic devices, which considers the stiffness of; actuation system;flexible links and passive joints.
sted, utgiver, år, opplag, sider
Stockholm: KTH Royal Institute of Technology, 2012. s. xii, 39
Serie
Trita-MMK, ISSN 1400-1179 ; 2012:13
Emneord
Haptic device, model-based design, stiffness
HSV kategori
Forskningsprogram
SRA - Informations- och kommunikationsteknik
Identifikatorer
urn:nbn:se:kth:diva-98667 (URN)978-91-7501-410-4 (ISBN)
Presentation
2012-06-11, B319 Gladan, KTH, Brinellvagen 85, Stockholm, 11:34 (engelsk)
Opponent
Veileder
Merknad
QC 20120611Tilgjengelig fra: 2012-06-29 Laget: 2012-06-29 Sist oppdatert: 2022-09-09bibliografisk kontrollert

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