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Design Optimization of the Tau 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.), Mechatronics. (Haptics)
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Machine Design (Div.).ORCID iD: 0000-0001-6692-2794
2011 (English)In: ICUMT: Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), 2011 3rd International Congress on, IEEE , 2011, 1-8 p.Conference paper, Published paper (Refereed) [Artistic work]
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.

Place, publisher, year, edition, pages
IEEE , 2011. 1-8 p.
Keyword [en]
Haptic devices, design optimization, TAU mechanism, genetic algorithm, modeling and simulation
National Category
Production Engineering, Human Work Science and Ergonomics
Research subject
SRA - ICT
Identifiers
URN: urn:nbn:se:kth:diva-78451Scopus ID: 2-s2.0-84856179536ISBN: 978-1-4577-0682-0 (print)OAI: oai:DiVA.org:kth-78451DiVA: diva2:492507
Conference
Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), 2011 3rd International Congress on
Note

© 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

Available from: 2012-02-14 Created: 2012-02-08 Last updated: 2014-09-08Bibliographically approved
In thesis
1. Model-based design of haptic devices
Open this publication in new window or tab >>Model-based design of haptic devices
2012 (English)Licentiate thesis, comprehensive summary (Other academic)
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.
Place, publisher, year, edition, pages
Stockholm: KTH Royal Institute of Technology, 2012. xii, 39 p.
Series
Trita-MMK, ISSN 1400-1179 ; 2012:13
Keyword
Haptic device, model-based design, stiffness
National Category
Mechanical Engineering
Research subject
SRA - ICT
Identifiers
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 (English)
Opponent
Supervisors
Note
QC 20120611Available from: 2012-06-29 Created: 2012-06-29 Last updated: 2012-06-29Bibliographically approved

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