Treffer: Mass/ inertia and joint friction minimization for a low-force five-dof haptic device

Title:
Mass/ inertia and joint friction minimization for a low-force five-dof haptic device
Authors:
VLACHOS, Kostas, PAPADOPOULOS, Evangelos, MITROPOULOS, Dionissios N
Source:
2004 IEEE International Conference on Robotics and Automation (April 26-May 1, 2004, Hilton New Orleans Riverside, New Orleans, LA, USA). :286-291
Publisher Information:
Piscataway NJ: IEEE, 2004.
Publication Year:
2004
Physical Description:
print, 15 ref 5
Original Material:
INIST-CNRS
Subject Terms:
Control theory, operational research, Automatique, recherche opérationnelle, Sciences exactes et technologie, Exact sciences and technology, Sciences appliquees, Applied sciences, Informatique; automatique theorique; systemes, Computer science; control theory; systems, Automatique théorique. Systèmes, Control theory. Systems, Genie mecanique. Construction mecanique, Mechanical engineering. Machine design, Transmissions, Drives, Mécanismes articulés, cames, Linkage mechanisms, cams, Domaine travail, Workspace, Dominio trabajo, Fonction objectif, Objective function, Función objetivo, Frottement, Friction, Frotamiento, Inertie, Inertia, Inercia, Minimisation, Minimization, Minimización, Mécanisme articulé, Linkage mechanism, Mecanismo articulado, Optimisation, Optimization, Optimización, Point fonctionnement, Operating point, Punto funcionamiento, Programmation multiobjectif, Multiobjective programming, Programación multiobjetivo, Sensibilité tactile, Tactile sensitivity, Sensibilidad tactil, Simulateur, Simulator, Simulador, Système 5 degrés liberté, System with five degrees of freedom, Sistema 5 grados libertad
Document Type:
Konferenz Conference Paper
File Description:
text
Language:
English
Author Affiliations:
Department of Mechanical Engineering National Technical University of Athens, 15780 Athens, Greece
School of Medicine National Kapodistrian University of Athens, 11527 Athens, Greece
Access URL:
http://pascal-francis.inist.fr/vibad/index.php?action=search&terms=17808765
Rights:
Copyright 2006 INIST-CNRS
CC BY 4.0
Sauf mention contraire ci-dessus, le contenu de cette notice bibliographique peut être utilisé dans le cadre d’une licence CC BY 4.0 Inist-CNRS / Unless otherwise stated above, the content of this bibliographic record may be used under a CC BY 4.0 licence by Inist-CNRS / A menos que se haya señalado antes, el contenido de este registro bibliográfico puede ser utilizado al amparo de una licencia CC BY 4.0 Inist-CNRS
Notes:
Computer science; theoretical automation; systems

Mechanical engineering. Mechanical construction. Handling
Accession Number:
edscal.17808765
Database:
PASCAL Archive

Weitere Informationen

This paper presents a design methodology, which aims at the minimization of the mass, inertia and joint friction for a low - force five - dof haptic device. The haptic device is optimized along a typical path with proper tolerances, rather than at some workspace operating point. The device, part of a training medical simulator for urological operations, consists of a two dof, 5-bar linkage and a three dof spherical joint. The requirement for reliable reproduction of low torques and forces lead to the need for minimization of device induced parasitic forces and torques. The multiobjective optimization employed is based on two objective functions that include mass/ inertia properties and joint friction. Kinematical and operational constraints are taken into account. The resulting optimized mechanism is substantially improved with respect to an existing device.