Åpne denne publikasjonen i ny fane eller vindu >>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 201206112012-06-292012-06-292022-09-09bibliografisk kontrollert