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Optimal Design of a 6-DoF Haptic device
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
2011 (English)In: Mechatronics (ICM), 2011 IEEE International Conference on, IEEE , 2011Conference paper (Refereed) [Artistic work]
Abstract [en]

The work presented in this paper is motivated by the use of haptics in applications of medical simulation, particularly simulation of surgical procedures in hard tissue such as bone structures. In such a scenario haptic device characteristics such as stiffness, motions, suitable workspace and device footprint are key design factors. This paper presents a procedure for optimal design of a parallel kinematic structure for a 6-Dof haptic device. For optimization, performance indices such as workspace volume, kinematic isotropy and static actuator force requirements are defined. A specific Jacobian matrix normalization is introduced for defining the kinematic isotropy and actuator force requirement indices. For defining the optimization problem, a novel multi-criteria objective function is introduced. Based on this objective function, a genetic algorithm is used to solve the multi-objective and non-linear optimization problem. Also, sensitivity analysis of the performance indices against each design parameter is presented as a basis for selecting a final set of design parameters for prototype development. Finally, using these results, a prototype was implemented.

Place, publisher, year, edition, pages
IEEE , 2011.
Keyword [en]
Design and optimization, Haptic devices, Parallel mechanism, Genetic algorithm
National Category
Production Engineering, Human Work Science and Ergonomics
Research subject
URN: urn:nbn:se:kth:diva-78434DOI: 10.1109/ICMECH.2011.5971208ScopusID: 2-s2.0-80052143644ISBN: 978-1-61284-982-9OAI: diva2:492488
IEEE-International Conference on Mechatronics, ICM 2011 Istanbul, Turkey
© 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 20120214Available from: 2012-02-14 Created: 2012-02-08 Last updated: 2012-02-14Bibliographically approved

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