Optimal design of a 6-Dof haptic device

Khan, Saifullah; Andersson, Kjell; Wikander, Jan

doi:10.1109/icmech.2011.5971208

Cited by 6 publications

(6 citation statements)

References 3 publications

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“…Structure of the developed 6-dof haptic device The developed haptic device is based on a parallel mechanism in the form of a modified version of the JP Merlet Kinematic structure [19,3]. The structure consists of a fixed base, a moving platform, and six identical legs connecting the platform to the base see figure 1.…”

Section: 1mentioning

confidence: 99%

“…Let Then the Jacobian matrix J(l) (derived in [3]) relates the motion in joint space l  to the motion in Cartesian space as…”

Section: 22mentioning

confidence: 99%

“…Approach To address the above described problems, a 6-DoF parallel haptic device has been optimally designed for force/torque capabilities and kinematic isotropy by the authors as reported in [2,3]. The parallel mechanism (as opposed to a serial mechanism) is selected based on its general merit of a high stiffness-to-inertia ratio.…”

Section: 2mentioning

confidence: 99%

“…Such procedures involve removing bone by drilling or milling, including processing of channels and cavities, hence requiring 5-6 degrees of freedom. Use of a haptic device in the above described application leads to three important design requirements on the control design of the device [2,3]:  Stiffness  Transparency and stability  Feedback of force and torque in 6-DoF. The requirement on transparency means that motion in free space should feel free while motion in contact with a virtual or remote object should result in feedback forces and torques as close as possible to those appearing in the remote or virtual world.…”

Section: Introductionmentioning

confidence: 99%

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Dynamic based control strategy for haptic devices

Khan

Andersson

Wikander

2011

2011 IEEE World Haptics Conference

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Transparency is a key performance measure for haptic devices. In this paper, we investigate a control strategy to increase the transparency of a haptic device. This control strategy is based on careful analysis of the dynamics of the haptic device, computed torque feed forward control and current feedback based force control. The inverse dynamic equation of motion for the device is derived using Lagrangian formalism and the dominating terms are identified for some representative motion trajectories. The user contact dynamic model is identified using experiments on the device with different users. A PI controller using motor current measurements is used to follow the reference force from the virtual environment. Experimental results illustrate the effectiveness of the control strategy.

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Section: 1mentioning

confidence: 99%

“…Let Then the Jacobian matrix J(l) (derived in [3]) relates the motion in joint space l  to the motion in Cartesian space as…”

Section: 22mentioning

confidence: 99%

Section: 2mentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Dynamic based control strategy for haptic devices

Khan

Andersson

Wikander

2011

2011 IEEE World Haptics Conference

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“…4 Under the premise that the workspace requirement is satisfied, the structural length index 12 is proposed to restrict the master manipulator structure, improve space efficiency, and reduce inertia. For dexterity, Jacobian matrix is used to construct various dexterity indexes 3,13 in local or global, such as condition number, 14 manipulability index, 15 and minimum singular value. For redundant manipulators, Cheng et al 16 defined redundancy index (RI) to measure the distance between the joint optimal solution and the joint constraint boundaries.…”

Section: Introductionmentioning

confidence: 99%

Modeling and design optimization of master manipulator for robot-assisted minimally invasive surgery

Chao

Pan

Niu

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part C:

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In the minimally invasive surgical robot system, the surgeon controls the movement of instruments with master manipulators, which is a typical physical human-robot interaction system. In this paper, the surgeon is fully taken into consideration for structural design optimization. The kinematics model of the surgeon’s arm was established to describe the irregular shape of surgeon’s operation space; The surgeon console model was established to describe the relative position between the master manipulators and the surgeon’s arm. To make master manipulator could behavior great dexterity in surgery, the dexterity index of surgeon operation space was proposed. Combined with the minimum gravity torque index and the redundancy index, this multi-objective optimization problem was solved by Salp Swarm optimization algorithm. Compared with the pre-optimization master manipulator, the performances of the optimized manipulator are overall improved by 10.3%, 23.0%, and 41.2% respectively in animal experiment.

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