NDLI: Optimal design of a 6-Dof haptic device

Content Provider	IEEE Xplore Digital Library
Author	Khan, S. Andersson, K. Wikander, J.
Copyright Year	2011
Description	Author affiliation: KTH Royal Institute of Technology, School of Industrial Engineering and Management, Department of Machine Design SE-100 44 Stockholm, Sweden (Khan, S.; Andersson, K.; Wikander, J.)
Abstract	The work presented in this paper is motivated by the use of haptics in applications of medical simulation, particularly simulation of surgical procedures in hard tissue such as bone structures. In such a scenario haptic device characteristics such as stiffness, motions, suitable workspace and device footprint are key design factors. This paper presents a procedure for optimal design of a parallel kinematic structure for a 6-Dof haptic device. For optimization, performance indices such as workspace volume, kinematic isotropy and static actuator force requirements are defined. A specific Jacobian matrix normalization is introduced for defining the kinematic isotropy and actuator force requirement indices. For defining the optimization problem, a novel multi-criteria objective function is introduced. Based on this objective function, a genetic algorithm is used to solve the multi-objective and non-linear optimization problem. Also, sensitivity analysis of the performance indices against each design parameter is presented as a basis for selecting a final set of design parameters for prototype development. Finally, using these results, a prototype was implemented.
Starting Page	713
Ending Page	718
File Size	1774071
Page Count	6
File Format	PDF
ISBN	9781612849829
e-ISBN	9781612849850
DOI	10.1109/ICMECH.2011.5971208
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-04-13
Publisher Place	Turkey
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Jacobian matrices Actuators Force Genetic algorithm Design and optimization Haptic devices Parallel mechanism
Content Type	Text
Resource Type	Article

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