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

Vlachos, K; Papadopoulos, E; Mitropoulos, DN

dc.contributor.author	Vlachos, K	en
dc.contributor.author	Papadopoulos, E	en
dc.contributor.author	Mitropoulos, DN	en
dc.date.accessioned	2014-03-01T02:42:52Z
dc.date.available	2014-03-01T02:42:52Z
dc.date.issued	2004	en
dc.identifier.issn	10504729	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/31111
dc.subject	Force feedback	en
dc.subject	Haptic devices	en
dc.subject	Multiobjective optimization	en
dc.subject	Training medical simulators	en
dc.subject.other	Computer aided design	en
dc.subject.other	Endoscopy	en
dc.subject.other	Friction	en
dc.subject.other	Haptic interfaces	en
dc.subject.other	Kinematics	en
dc.subject.other	Optimization	en
dc.subject.other	Torque	en
dc.subject.other	Haptic devices	en
dc.subject.other	Multiobjective optimization	en
dc.subject.other	Training medical simulators	en
dc.subject.other	Robotics	en
dc.title	Mass/ inertia and joint friction minimization for a low-force five-dof haptic device	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/ROBOT.2004.1307165	en
heal.identifier.secondary	http://dx.doi.org/10.1109/ROBOT.2004.1307165	en
heal.publicationDate	2004	en
heal.abstract	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.	en
heal.journalName	Proceedings - IEEE International Conference on Robotics and Automation	en
dc.identifier.doi	10.1109/ROBOT.2004.1307165	en
dc.identifier.volume	2004	en
dc.identifier.issue	1	en
dc.identifier.spage	286	en
dc.identifier.epage	291	en