Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
An approach to stiffness analysis methodology for haptic devices
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Machine Design (Div.). (Haptic)
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.), Machine Elements.
2011 (English)In: 2011 3rd International Congress on Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), IEEE conference proceedings, 2011, , 8 p.1-8 p.Conference paper, Published paper (Refereed)
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.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2011. , 8 p.1-8 p.
Series
International Congress on Ultra Modern Telecommunications and Control Systems and Workshops, ISSN 2157-0221
Keyword [en]
aptics, Parallel/Serial kinematic structures, stiffness methodology
National Category
Production Engineering, Human Work Science and Ergonomics Other Mechanical Engineering
Identifiers
URN: urn:nbn:se:kth:diva-84756Scopus ID: 2-s2.0-84856177761ISBN: 978-1-4577-0682-0 (print)OAI: oai:DiVA.org:kth-84756DiVA: diva2:499622
Conference
3rd International Congress on Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), 5-7 Oct. 2011
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 20120215

Available from: 2012-02-15 Created: 2012-02-13 Last updated: 2014-09-08Bibliographically approved

Open Access in DiVA

fulltext(2066 kB)957 downloads
File information
File name FULLTEXT01.pdfFile size 2066 kBChecksum SHA-512
6f5163f70325201fb369a4d8fef0eb75a890cdd1a10aade63db99c60323f4814a408fafed01f5da66a52112a74a6d5417d6ff7e1e4834dd17bc3f438a2a35e05
Type fulltextMimetype application/pdf

Other links

ScopusIEEEXplore

Authority records BETA

Andersson, Kjell

Search in DiVA

By author/editor
Ahmad, AftabAndersson, KjellSellgren, Ulf
By organisation
Machine Design (Div.)Machine Elements
Production Engineering, Human Work Science and ErgonomicsOther Mechanical Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 957 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

isbn
urn-nbn

Altmetric score

isbn
urn-nbn
Total: 210 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf