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Kinematics and Dynamics of a novel 6-DoF TAU Haptic Device
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics. (Haptic)
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Machine Design (Div.).ORCID iD: 0000-0001-6692-2794
2011 (English)In: Proceedings of the 2011 IEEE International Conference on MechatronicsInternational Conference on Mechatronics, April 13-15, 2011, Istanbul, Turkey, IEEE conference proceedings, 2011, 719-724 p.Conference paper (Refereed)
Abstract [en]

This paper presents the kinematics and dynamics modeling of a novel hybrid kinematic concept, i.e. the TAU haptic device. This new concept was obtained from the modification of TAU-2 structure proposed by Khan et al. First a kinematic model for inverse and forward kinematics was developed and analyzed. Then an algorithm to solve the close form inverse dynamics is presented using Lagrangian formulation. Numerical simulation was carried out to examine the validity of the approach and accuracy of the technique employed. A trigonometric helical trajectory of 5th order spline was developed in Cartesian space for each degree of freedom of the moving platform in order to verify and simulate the inverse dynamics; the motion of the platform is such that the tool centre point remains on this trajectory while its orientation is changing constantly in roll, pitch and yaw.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2011. 719-724 p.
Keyword [en]
Haptic device, Human robot interface, Mathematical Modelling, Simulation, TAU Configuration
National Category
Other Mechanical Engineering
URN: urn:nbn:se:kth:diva-87187DOI: 10.1109/ICMECH.2011.5971209ScopusID: 2-s2.0-80052168011ISBN: 978-1-61284-982-9OAI: diva2:501494
ICM 2011 International Conference on Mechatronics, April 13-15, 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 20120215Available from: 2012-02-15 Created: 2012-02-14 Last updated: 2012-06-29Bibliographically 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.
Trita-MMK, ISSN 1400-1179 ; 2012:13
Haptic device, model-based design, stiffness
National Category
Mechanical Engineering
Research subject
urn:nbn:se:kth:diva-98667 (URN)978-91-7501-410-4 (ISBN)
2012-06-11, B319 Gladan, KTH, Brinellvagen 85, Stockholm, 11:34 (English)
QC 20120611Available from: 2012-06-29 Created: 2012-06-29 Last updated: 2012-06-29Bibliographically approved

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