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A stiffness modeling methodology for simulation-driven design of haptic devices
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics. (Haptic)
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Machine Design (Div.).ORCID iD: 0000-0001-6692-2794
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Machine Design (Div.).
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics.
2014 (English)In: Engineering with Computers, ISSN 0177-0667, E-ISSN 1435-5663, Vol. 30, no 1, 125-141 p.Article in journal (Refereed) Published
Abstract [en]

Efficient development and engineering of high performing interactive devices, such as haptic robots for surgical training benefits from model-based and simulation-driven design. The complexity of the design space and the multi-domain and multi-physics character of the behavior of such a product ask for a systematic methodology for creating and validating compact and computationally efficient simulation models to be used in the design process. Modeling the quasi-static stiffness is an important first step before optimizing the mechanical structure, engineering the control system, and performing hardware in the loop tests. The stiffness depends not only on the stiffness of the links, but also on the contact stiffness in each joint. A fine-granular Finite element method (FEM) model, which is the most straightforward approach, cannot, due to the model size and simulation complexity, efficiently be used to address such tasks. In this work, a new methodology for creating an analytical and compact model of the quasi-static stiffness of a haptic device is proposed, which considers the stiffness of actuation systems, flexible links and passive joints. For the modeling of passive joints, a hertzian contact model is introduced for both spherical and universal joints, and a simply supported beam model for universal joints. The validation process is presented as a systematic guideline to evaluate the stiffness parameters both using parametric FEM modeling and physical experiments. Preloading has been used to consider the clearances and possible assembling errors during manufacturing. A modified JP Merlet kinematic structure is used to exemplify the modeling and validation methodology.

Place, publisher, year, edition, pages
2014. Vol. 30, no 1, 125-141 p.
Keyword [en]
Haptic interfaces, parallel/serial kinematic structures, stiffness methodology, pre-loading
National Category
Other Mechanical Engineering
Identifiers
URN: urn:nbn:se:kth:diva-98665DOI: 10.1007/s00366-012-0296-4ISI: 000329241000009Scopus ID: 2-s2.0-84892679582OAI: oai:DiVA.org:kth-98665DiVA: diva2:538354
Note

QC 20140211. Updated from submitted to published.

Available from: 2012-06-29 Created: 2012-06-29 Last updated: 2017-12-07Bibliographically 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
2. Effective development of haptic devices using a model-based and simulation-driven design approach
Open this publication in new window or tab >>Effective development of haptic devices using a model-based and simulation-driven design approach
2014 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Virtual reality (VR)-based surgical simulators using haptic devices can increase the effectiveness of surgical training for surgeons when performing surgical procedures in hard tissues such as bones or teeth milling. The realism of virtual surgery through a surgical simulator depends largely on the precision and reliability of the haptic device, which reflects the interaction with the virtual model. The quality of perceptiveness (sensation, force/torque) depends on the design of the haptic device, which presents a complex design space due to its multi-criteria and conflicting character of functional and performance requirements. These requirements include high stiffness, large workspace, high manipulability, small inertia, low friction, high transparency, and cost constraints.

This thesis proposes a design methodology to improve the realism of force/torque feedback from the VR-based surgical simulator while fulfilling end-user requirements.

The main contributions of this thesis are:

1. The development of a model-based and simulation-driven design methodology, where one starts from an abstract, top-level model that is extended via stepwise refinements and design space exploration into a detailed and integrated systems model that can be physically realized.

2. A methodology for creating an analytical and compact model of the quasi-static stiffness of a haptic device, which considers the stiffness of actuation systems, flexible links and passive joints.

3. A robust design optimization approach to find the optimal numerical values for a set of design parameters to maximize the kinematic, dynamic and kinetostatic performances of a 6-degrees of freedom (DOF) haptic device, while minimizing its sensitivity to variations in manufacturing tolerances and cost, and also satisfying the allowed variations in the performance indices.

4. A cost-effective approach for force/torque feedback control using force/torque estimated through a recursive least squares estimation.

5. A model-based control strategy to increase transparency and fidelity of force/torque feedback from the device by compensating for the natural dynamics of the device, friction in joints, gravity of platform, and elastic deformations.

 

Place, publisher, year, edition, pages
Stockholm: KTH Royal Institute of Technology, 2014. xiii, 55 p.
Series
TRITA-MMK, ISSN 1400-1179 ; 2014:02
Keyword
Haptic device, model-based design, design optimization
National Category
Other Mechanical Engineering
Identifiers
urn:nbn:se:kth:diva-144216 (URN)978-91-7595-063-1 (ISBN)
Public defence
2014-04-23, F3, Lindstedtsvägen 26, KTH, Stockholm, 10:00 (English)
Opponent
Supervisors
Note

QC 20140415

Available from: 2014-04-15 Created: 2014-04-15 Last updated: 2014-04-15Bibliographically approved

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Andersson, Kjell

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