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An approach to stiffness analysis methodology for haptic devices
KTH, Skolan för industriell teknik och management (ITM), Maskinkonstruktion (Inst.), Maskinkonstruktion (Avd.). (Haptic)
KTH, Skolan för industriell teknik och management (ITM), Maskinkonstruktion (Inst.), Maskinelement.ORCID-id: 0000-0001-6692-2794
KTH, Skolan för industriell teknik och management (ITM), Maskinkonstruktion (Inst.), Maskinelement.
2011 (engelsk)Inngår i: 2011 3rd International Congress on Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), IEEE conference proceedings, 2011, , s. 8s. 1-8Konferansepaper, Publicerat paper (Fagfellevurdert)
Abstract [en]

In this work a new methodology is proposed to model the static stiffness of a haptic device. This methodology can be used for other parallel, serial and hybrid manipulators. The stiffness model considers the stiffness of; actuation system; flexible links and passive joints. For the modeling of the passive joints a Hertzian contact model is introduced for both spherical and universal joints and a simply supported beam model for universal joints. For validation of the stiffness model a modified JP Merlet kinematic structure has been used as a test case. A parametric Ansys FEM model was developed for this test case and used to validate the resulting stiffness model. The findings in this paper can provide an additional index to use for multi-objective structural optimization to find an optimum compromise between a lightweight design and the stiffness performance for high precision motion within a larger workspace.

sted, utgiver, år, opplag, sider
IEEE conference proceedings, 2011. , s. 8s. 1-8
Serie
International Congress on Ultra Modern Telecommunications and Control Systems and Workshops, ISSN 2157-0221
Emneord [en]
aptics, Parallel/Serial kinematic structures, stiffness methodology
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-84756Scopus ID: 2-s2.0-84856177761ISBN: 978-1-4577-0682-0 (tryckt)OAI: oai:DiVA.org:kth-84756DiVA, id: diva2:499622
Konferanse
3rd International Congress on Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), 5-7 Oct. 2011
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 20120215

Tilgjengelig fra: 2012-02-15 Laget: 2012-02-13 Sist oppdatert: 2014-09-08bibliografisk kontrollert

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