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Investigation of parallel kinematic mechanism structures for haptic devices
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Machine Elements.ORCID iD: 0000-0001-6692-2794
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.ORCID iD: 0000-0002-7550-3134
2009 (English)In: 2nd Nordic Conference on Product Lifecycle Management – NordPLM’09, Gothenburg January 2009., 2009Conference paper, Published paper (Refereed)
Abstract [en]

Today modeling and simulation tools like FE (Finite Element) and MBS (Multi Body Systems) simulation tools are commonly used within mechanical engineering. These types of tools offer capabilities of Virtual prototyping (VP) with the possibility to investigate and explore a product before a physical prototype is manufactured. This can reduce the number of physical prototypes needed and save both time and money. These tools are also well known to be an effective means to support the process of verification of formulated requirements. They can be used e.g. for evaluation and selection of alternative solutions or as a final check or optimisation of a solution concept. The use of these kinds of tools can be even more effective if an information framework for handling the information created during the verification process can support them.

The outline of such an information framework has been presented by Andersson [1], [2], which support traceability and reuse of partial result created during the verification of a specific requirements attribute as well as a possibility to study the effects that changes in the requirements specification have on product properties. This type of framework need a fine granularity of information, to be able to reuse partial results e.g. component simulation models but also that the models are structured such that we can reuse them in new model configurations.

This paper presents an investigation of 6-dof haptic devices based on parallel structure that can be used in a surgical training simulator for temporal bone milling or as a 6-dof input- output teleoperated haptic master device. This investigation follows the verification process outlined by Andersson [1], [2], where the haptic devices in this case the product concept to be evaluated. The basic idea behind these concepts is to develop a haptic device with a large workspace and high stiffness within this workspace based on modeling and analysis of two different concepts. The study will concentrate to find a way to measure performance parameters to be able to evaluate and compare different structures.

Place, publisher, year, edition, pages
2009.
Keyword [en]
Design methodology; Haptic devices; Design requirements; Parallel kinematic structure; Modeling and simulation
National Category
Production Engineering, Human Work Science and Ergonomics
Research subject
Järnvägsgruppen - Effektiva tågsystem för godstrafik
Identifiers
URN: urn:nbn:se:kth:diva-66370OAI: oai:DiVA.org:kth-66370DiVA: diva2:483778
Conference
2nd Nordic Conference on Product Lifecycle Management – NordPLM’09
Note
FQCAvailable from: 2012-02-15 Created: 2012-01-25 Last updated: 2012-02-15Bibliographically approved

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Andersson, KjellWikander, Jan

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