A stiffness modeling methodology for simulation-driven design of haptic devices

Ahmad, Aftab; Andersson, Kjell; Sellgren, Ulf; Khan, Saifullah

doi:10.1007/s00366-012-0296-4

Cited by 17 publications

(9 citation statements)

References 18 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The presence of various serial kinematic chains in these manipulators make them least affected by individual actuator positioning error [1] thus resulting in the higher stiffness, redundancy in motion and excellent load bearing capacity. These inherent properties make them an ideal candidate in various applications such as precision positioning [2,3], motion simulators, milling operations [4], coordinate measuring machines, assembly cells [5] and surgery robots [6] etc.…”

Section: Introductionmentioning

confidence: 99%

“…The objective is to achieve high dynamical performance with minimal of excitation force and it could be done by reducing the amount of moving masses involved. This reduction can be achieved by using materials with high strength to weight ratios, use of advanced kinematical structures and minimizing the cross sections of all critical elements [6]. Li [8] has utilized non-holonomic theory to develop a four joint parallel chain manipulator that can be driven by using two motors thus reducing the actuator load.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Design and Optimization of 6-DOF Platform Top Plate under Realistic Joint Conditions

Bhatti¹,

Bashmal²,

Khan³

et al. 2020

Int. j. simul. model.

View full text Add to dashboard Cite

In this work, an FEA based methodology is proposed for the accurate prediction of stiffness properties of top plate of special application 6-DOF platform. The effect of joint contact conditions on the static stiffness and natural frequency of the top plate is analysed and compared with experimental results. Top plate is first designed using a simplified finite element model where the joint contact is considered to be rigid. The design failed to meet the actual operating conditions when tested experimentally. The design is revised using actual loading conditions and introducing realistic joint contact formulation. The results obtained are in close agreement with experimental data. Based on the developed methodology, a Multi-Objective Genetic Algorithm (MOGA) based optimization study has been carried out to reach an optimum design meeting the desired performance with a minimum possible weight. Both size and shape of the top plate has been optimized and weight reduction of 5.08 % has been achieved using the shape optimization. The performance parameters of final design of top plate differ by only 1.43 % for static stiffness and 0.44 % for modal response when compared with the experimental results.

show abstract

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Design and Optimization of 6-DOF Platform Top Plate under Realistic Joint Conditions

Bhatti¹,

Bashmal²,

Khan³

et al. 2020

Int. j. simul. model.

View full text Add to dashboard Cite

show abstract

“…Jacobian-based stiffness analysis methods have been developed both for serial manipulators [6,7] and parallel manipulators [8][9][10][11][12]. These stiffness analysis methods have been used for the analysis of a wide range of parallel manipulators, such as machining robots [1,13,14], haptic devices [15,16], and precision manipulators [17,18].…”

Section: Introductionmentioning

confidence: 99%

Consistent modeling resolves asymmetry in stiffness matrices

Hoevenaars

Gosselin

Lambert

et al. 2016

Mechanism and Machine Theory

View full text Add to dashboard Cite

“…Among these investigations and efforts, finite element method (FEM), 20,21 matrix structure method (MSM), 22,23 screw-based method (SBM), 24,25 and semi-analytical method 26,27 are the most commonly used approaches. The authors recently established an efficient kinetostatic model for the Exechon PKM, with which the stiffness of an Exechon PKM module was estimated and the effects of design variables were discussed in a quick yet accurate manner.…”

Section: Introductionmentioning

confidence: 99%

Conceptual design and comparative stiffness analysis of an Exechon-like parallel kinematic machine with lockable spherical joints

Tang

Zhang

2017

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

This article proposes two types of lockable spherical joints which can perform three different motion patters by locking or unlocking corresponding rotational axes. Based on the proposed lockable spherical joints, a general reconfigurable limb structure with two passive joints is designed with which the conceptual designs of two types of Exechon-like parallel kinematic machines are completed. To evaluate the stiffness of the proposed Exechon-like parallel kinematic machines, an expanded kinetostatic model is established by including the compliances of all joints and limb structures. The prediction accuracy of the expanded stiffness model is validated by numerical simulations. The comparative stiffness analyses prove that the Exe-Variant parallel kinematic machine claims competitive rigidity performance to the Exechon parallel kinematic machine. The present work can provide useful information for further investigations on structural enhancement, rigidity improvement, and dynamic analyses of other Exechon-like parallel kinematic machines.

show abstract

A stiffness modeling methodology for simulation-driven design of haptic devices

Cited by 17 publications

References 18 publications

Design and Optimization of 6-DOF Platform Top Plate under Realistic Joint Conditions

Design and Optimization of 6-DOF Platform Top Plate under Realistic Joint Conditions

Consistent modeling resolves asymmetry in stiffness matrices

Conceptual design and comparative stiffness analysis of an Exechon-like parallel kinematic machine with lockable spherical joints

Contact Info

Product

Resources

About