Optimal Dimensional Synthesis of a Dual Purpose Haptic Exoskeleton
EuroHaptics '08 Proceedings of the 6th international conference on Haptics: Perception, Devices and Scenarios
Design optimization of a delta-like parallel robot through global stiffness performance evaluation
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
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This paper presents a general framework for optimization of haptic interfaces, in particular for haptic interfaces with closed kinematic chains, with respect to multiple design objectives, namely kinematic and dynamic criteria. Both performance measures are discussed and optimization problems for a haptic interface with best worst-case kinematic and dynamic performance are formulated. Non-convex single objective optimization problems are solved with a branch-and-bound type (culling) algorithm. Pareto methods characterizing the trade-off between multiple design criteria are advocated for multi-criteria optimization over widely used scalarization approaches and Normal Boundary Intersection method is applied to efficiently obtain the Pareto-front hyper-surface. The framework is applied to a sample parallel mechanism (five-bar mechanism) and the results are compared with the results of previously published methods in the literature. Finally, dimensional synthesis of a high performance haptic interface utilizing its Pareto-front curve is demonstrated.