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Model-based design of haptic devices
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.), Mechatronics. (Haptic)
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 [en]
Haptic device, model-based design, stiffness
National Category
Mechanical Engineering
Research subject
SRA - ICT
Identifiers
URN: urn:nbn:se:kth:diva-98667ISBN: 978-91-7501-410-4 (print)OAI: oai:DiVA.org:kth-98667DiVA: diva2:538369
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
List of papers
1. Kinematics and Dynamics of a novel 6-DoF TAU Haptic Device
Open this publication in new window or tab >>Kinematics and Dynamics of a novel 6-DoF TAU Haptic Device
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, Published 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
Keyword
Haptic device, Human robot interface, Mathematical Modelling, Simulation, TAU Configuration
National Category
Other Mechanical Engineering
Identifiers
urn:nbn:se:kth:diva-87187 (URN)10.1109/ICMECH.2011.5971209 (DOI)2-s2.0-80052168011 (Scopus ID)978-1-61284-982-9 (ISBN)
Conference
ICM 2011 International Conference on Mechatronics, April 13-15, 2011, Istanbul, Turkey
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 20120215Available from: 2012-02-15 Created: 2012-02-14 Last updated: 2012-06-29Bibliographically approved
2. Design Optimization of the Tau Haptic Device
Open this publication in new window or tab >>Design Optimization of the Tau Haptic Device
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
Keyword
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:nbn:se:kth:diva-78451 (URN)2-s2.0-84856179536 (Scopus ID)978-1-4577-0682-0 (ISBN)
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
3. A stiffness modeling methodology for simulation-driven design of haptic devices
Open this publication in new window or tab >>A stiffness modeling methodology for simulation-driven design of haptic devices
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.

Keyword
Haptic interfaces, parallel/serial kinematic structures, stiffness methodology, pre-loading
National Category
Other Mechanical Engineering
Identifiers
urn:nbn:se:kth:diva-98665 (URN)10.1007/s00366-012-0296-4 (DOI)000329241000009 ()2-s2.0-84892679582 (Scopus ID)
Note

QC 20140211. Updated from submitted to published.

Available from: 2012-06-29 Created: 2012-06-29 Last updated: 2017-12-07Bibliographically approved

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