NDLI: The Dimensional Synthesis of the Linear Delta Robot for a Force-Feedback Device

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Cardou, Philippe Laurendeau, Denis Beaulieu, Luc Be´langer, Luc Carette, Alexandre
Copyright Year	2010
Abstract	We perform the dimensional synthesis of a parallel manipulator to be used as a force-feedback device in a virtual reality application for surgeon training in prostate brachytherapy. For such brachytherapy operations, the characteristics of the required workspace point towards the architecture of the linear DELTA robot to be used as the force-feedback device to the surgeon. In this paper, we address the dimensional synthesis of the linear DELTA robot for the prescribed workspace. To this end, we propose the minimum relative kinematic sensitivity as an objective function, a kinematic performance index that is different from most of the commonly used metrics, i.e., manipulability and dexterity. The minimum relative kinematic sensitivity represents the ratio of the minimum to the maximum effect of a unity-bounded set of actuator displacements on the moving-platform pose. These extremum sensitivities are computed independently over the prescribed workspace. Thence, the dimensional synthesis problem consists in finding the robot dimensions that maximize the minimum relative kinematic sensitivity, so it is guaranteed within a narrow interval over the prescribed workspace. This optimization problem is nonconvex, which poses a challenge from the computational point of view. However, because of symmetry in the mechanism and other simplifications, the number of optimization variables is reduced to four. This allows a reasonably fine discretization of the search domain, giving the designers confidence that the ensuing local optimum is close to the global optimum.
Sponsorship	Design Engineering Division and Computers in Engineering Division
Starting Page	829
Ending Page	838
Page Count	10
File Format	PDF
ISBN	9780791844106
DOI	10.1115/DETC2010-28383
e-ISBN	9780791838815
Volume Number	Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B
Conference Proceedings	ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
Language	English
Publisher Date	2010-08-15
Publisher Place	Montreal, Quebec, Canada
Access Restriction	Subscribed
Subject Keyword	Actuators Force feedback Kinematics Virtual reality Dimensions Manipulators Robots Optimization
Content Type	Text
Resource Type	Article

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