Elastostatic modeling and shape optimization of a 6-dof haptic interface device
Identifieur interne : 002007 ( Main/Exploration ); précédent : 002006; suivant : 002008Elastostatic modeling and shape optimization of a 6-dof haptic interface device
Auteurs : Stéphane Caro [France] ; Damien Chablat [France] ; Chao Chen [Malaisie]Source :
English descriptors
Abstract
This paper deals with the shape optimization of a six degree-of-freedom haptic interface device. This six-dof epicyclic-parallel manipulator has all actuators located on the ground. A regular dexterous workspace is introduced to represent the mobility of user's hand. Throughout this workspace, the deviation of the mobile platform is bounded to provide a better feeling to the user and the masses in motion are minimized to increase the transparency of the haptic device. The stiffness model is written using a virtual joint method and compared with the results obtained with the finite element analysis to be validated. Finally, the shape of the links are optimized in order to minimize the masses in motion while guaranteeing a given stiffness throughout the regular workspace of the mechanism.
Url:
Affiliations:
Links toward previous steps (curation, corpus...)
- to stream Hal, to step Corpus: 000192
- to stream Hal, to step Curation: 000192
- to stream Hal, to step Checkpoint: 000215
- to stream Main, to step Merge: 002031
- to stream Main, to step Curation: 002007
Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Elastostatic modeling and shape optimization of a 6-dof haptic interface device</title><author><name sortKey="Caro, Stephane" sort="Caro, Stephane" uniqKey="Caro S" first="Stéphane" last="Caro">Stéphane Caro</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-21439" status="VALID"><orgName>Institut de Recherche en Communications et en Cybernétique de Nantes</orgName><orgName type="acronym">IRCCyN</orgName><desc><address><addrLine>1, rue de la Noë BP92101 44321 Nantes Cedex 03</addrLine><country key="FR"></country></address><ref type="url">http://www.irccyn.ec-nantes.fr/</ref></desc><listRelation><relation active="#struct-84538" type="direct"></relation><relation active="#struct-302102" type="indirect"></relation><relation active="#struct-300345" type="direct"></relation><relation active="#struct-300405" type="direct"></relation><relation active="#struct-301358" type="direct"></relation><relation name="UMR6597" active="#struct-441569" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-84538" type="direct"><org type="laboratory" xml:id="struct-84538" status="VALID"><orgName>Mines Nantes</orgName><orgName type="acronym">Mines Nantes</orgName><desc><address><addrLine>La Chantrerie - 4, rue Alfred Kastler - BP 20722 - 44307 Nantes cedex 3</addrLine><country key="FR"></country></address><ref type="url">http://www.mines-nantes.fr/</ref></desc><listRelation><relation active="#struct-302102" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-302102" type="indirect"><org type="institution" xml:id="struct-302102" status="VALID"><orgName>Institut Mines-Télécom</orgName><desc><address><addrLine>46 rue Barrault -75634 Paris Cedex 13</addrLine><country key="FR"></country></address><ref type="url">http://www.mines-telecom.fr/</ref></desc></org></tutelle><tutelle active="#struct-300345" type="direct"><org type="institution" xml:id="struct-300345" status="VALID"><orgName>École Centrale de Nantes</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-300405" type="direct"><org type="institution" xml:id="struct-300405" status="VALID"><orgName>Ecole Polytechnique de l'Université de Nantes</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-301358" type="direct"><org type="institution" xml:id="struct-301358" status="VALID"><orgName>PRES Université Nantes Angers Le Mans [UNAM]</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle name="UMR6597" active="#struct-441569" type="direct"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country></affiliation></author><author><name sortKey="Chablat, Damien" sort="Chablat, Damien" uniqKey="Chablat D" first="Damien" last="Chablat">Damien Chablat</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-21439" status="VALID"><orgName>Institut de Recherche en Communications et en Cybernétique de Nantes</orgName><orgName type="acronym">IRCCyN</orgName><desc><address><addrLine>1, rue de la Noë BP92101 44321 Nantes Cedex 03</addrLine><country key="FR"></country></address><ref type="url">http://www.irccyn.ec-nantes.fr/</ref></desc><listRelation><relation active="#struct-84538" type="direct"></relation><relation active="#struct-302102" type="indirect"></relation><relation active="#struct-300345" type="direct"></relation><relation active="#struct-300405" type="direct"></relation><relation active="#struct-301358" type="direct"></relation><relation name="UMR6597" active="#struct-441569" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-84538" type="direct"><org type="laboratory" xml:id="struct-84538" status="VALID"><orgName>Mines Nantes</orgName><orgName type="acronym">Mines Nantes</orgName><desc><address><addrLine>La Chantrerie - 4, rue Alfred Kastler - BP 20722 - 44307 Nantes cedex 3</addrLine><country key="FR"></country></address><ref type="url">http://www.mines-nantes.fr/</ref></desc><listRelation><relation active="#struct-302102" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-302102" type="indirect"><org type="institution" xml:id="struct-302102" status="VALID"><orgName>Institut Mines-Télécom</orgName><desc><address><addrLine>46 rue Barrault -75634 Paris Cedex 13</addrLine><country key="FR"></country></address><ref type="url">http://www.mines-telecom.fr/</ref></desc></org></tutelle><tutelle active="#struct-300345" type="direct"><org type="institution" xml:id="struct-300345" status="VALID"><orgName>École Centrale de Nantes</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-300405" type="direct"><org type="institution" xml:id="struct-300405" status="VALID"><orgName>Ecole Polytechnique de l'Université de Nantes</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-301358" type="direct"><org type="institution" xml:id="struct-301358" status="VALID"><orgName>PRES Université Nantes Angers Le Mans [UNAM]</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle name="UMR6597" active="#struct-441569" type="direct"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country></affiliation></author><author><name sortKey="Chen, Chao" sort="Chen, Chao" uniqKey="Chen C" first="Chao" last="Chen">Chao Chen</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-31666" status="VALID"><orgName>Monash University</orgName><desc><address><addrLine>No. 2 Jalan Universiti, Bandar Sunway, Petaling Jaya - 46150 Selangor Darul Ehsan</addrLine><country key="MY"></country></address><ref type="url">http://www.monash.edu.au/</ref></desc><listRelation><relation active="#struct-300792" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-300792" type="direct"><org type="institution" xml:id="struct-300792" status="VALID"><orgName>Monash University</orgName><desc><address><addrLine>Melbourne</addrLine><country key="AU"></country></address></desc></org></tutelle></tutelles></hal:affiliation><country>Malaisie</country></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">HAL</idno><idno type="RBID">Hal:hal-00685896</idno><idno type="halId">hal-00685896</idno><idno type="halUri">https://hal.archives-ouvertes.fr/hal-00685896</idno><idno type="url">https://hal.archives-ouvertes.fr/hal-00685896</idno><date when="2012-07-02">2012-07-02</date><idno type="wicri:Area/Hal/Corpus">000192</idno><idno type="wicri:Area/Hal/Curation">000192</idno><idno type="wicri:Area/Hal/Checkpoint">000215</idno><idno type="wicri:Area/Main/Merge">002031</idno><idno type="wicri:Area/Main/Curation">002007</idno><idno type="wicri:Area/Main/Exploration">002007</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Elastostatic modeling and shape optimization of a 6-dof haptic interface device</title><author><name sortKey="Caro, Stephane" sort="Caro, Stephane" uniqKey="Caro S" first="Stéphane" last="Caro">Stéphane Caro</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-21439" status="VALID"><orgName>Institut de Recherche en Communications et en Cybernétique de Nantes</orgName><orgName type="acronym">IRCCyN</orgName><desc><address><addrLine>1, rue de la Noë BP92101 44321 Nantes Cedex 03</addrLine><country key="FR"></country></address><ref type="url">http://www.irccyn.ec-nantes.fr/</ref></desc><listRelation><relation active="#struct-84538" type="direct"></relation><relation active="#struct-302102" type="indirect"></relation><relation active="#struct-300345" type="direct"></relation><relation active="#struct-300405" type="direct"></relation><relation active="#struct-301358" type="direct"></relation><relation name="UMR6597" active="#struct-441569" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-84538" type="direct"><org type="laboratory" xml:id="struct-84538" status="VALID"><orgName>Mines Nantes</orgName><orgName type="acronym">Mines Nantes</orgName><desc><address><addrLine>La Chantrerie - 4, rue Alfred Kastler - BP 20722 - 44307 Nantes cedex 3</addrLine><country key="FR"></country></address><ref type="url">http://www.mines-nantes.fr/</ref></desc><listRelation><relation active="#struct-302102" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-302102" type="indirect"><org type="institution" xml:id="struct-302102" status="VALID"><orgName>Institut Mines-Télécom</orgName><desc><address><addrLine>46 rue Barrault -75634 Paris Cedex 13</addrLine><country key="FR"></country></address><ref type="url">http://www.mines-telecom.fr/</ref></desc></org></tutelle><tutelle active="#struct-300345" type="direct"><org type="institution" xml:id="struct-300345" status="VALID"><orgName>École Centrale de Nantes</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-300405" type="direct"><org type="institution" xml:id="struct-300405" status="VALID"><orgName>Ecole Polytechnique de l'Université de Nantes</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-301358" type="direct"><org type="institution" xml:id="struct-301358" status="VALID"><orgName>PRES Université Nantes Angers Le Mans [UNAM]</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle name="UMR6597" active="#struct-441569" type="direct"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country></affiliation></author><author><name sortKey="Chablat, Damien" sort="Chablat, Damien" uniqKey="Chablat D" first="Damien" last="Chablat">Damien Chablat</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-21439" status="VALID"><orgName>Institut de Recherche en Communications et en Cybernétique de Nantes</orgName><orgName type="acronym">IRCCyN</orgName><desc><address><addrLine>1, rue de la Noë BP92101 44321 Nantes Cedex 03</addrLine><country key="FR"></country></address><ref type="url">http://www.irccyn.ec-nantes.fr/</ref></desc><listRelation><relation active="#struct-84538" type="direct"></relation><relation active="#struct-302102" type="indirect"></relation><relation active="#struct-300345" type="direct"></relation><relation active="#struct-300405" type="direct"></relation><relation active="#struct-301358" type="direct"></relation><relation name="UMR6597" active="#struct-441569" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-84538" type="direct"><org type="laboratory" xml:id="struct-84538" status="VALID"><orgName>Mines Nantes</orgName><orgName type="acronym">Mines Nantes</orgName><desc><address><addrLine>La Chantrerie - 4, rue Alfred Kastler - BP 20722 - 44307 Nantes cedex 3</addrLine><country key="FR"></country></address><ref type="url">http://www.mines-nantes.fr/</ref></desc><listRelation><relation active="#struct-302102" type="direct"></relation></listRelation></org></tutelle><tutelle active="#struct-302102" type="indirect"><org type="institution" xml:id="struct-302102" status="VALID"><orgName>Institut Mines-Télécom</orgName><desc><address><addrLine>46 rue Barrault -75634 Paris Cedex 13</addrLine><country key="FR"></country></address><ref type="url">http://www.mines-telecom.fr/</ref></desc></org></tutelle><tutelle active="#struct-300345" type="direct"><org type="institution" xml:id="struct-300345" status="VALID"><orgName>École Centrale de Nantes</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-300405" type="direct"><org type="institution" xml:id="struct-300405" status="VALID"><orgName>Ecole Polytechnique de l'Université de Nantes</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle active="#struct-301358" type="direct"><org type="institution" xml:id="struct-301358" status="VALID"><orgName>PRES Université Nantes Angers Le Mans [UNAM]</orgName><desc><address><country key="FR"></country></address></desc></org></tutelle><tutelle name="UMR6597" active="#struct-441569" type="direct"><org type="institution" xml:id="struct-441569" status="VALID"><idno type="ISNI">0000000122597504</idno><idno type="IdRef">02636817X</idno><orgName>Centre National de la Recherche Scientifique</orgName><orgName type="acronym">CNRS</orgName><date type="start">1939-10-19</date><desc><address><country key="FR"></country></address><ref type="url">http://www.cnrs.fr/</ref></desc></org></tutelle></tutelles></hal:affiliation><country>France</country></affiliation></author><author><name sortKey="Chen, Chao" sort="Chen, Chao" uniqKey="Chen C" first="Chao" last="Chen">Chao Chen</name><affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-31666" status="VALID"><orgName>Monash University</orgName><desc><address><addrLine>No. 2 Jalan Universiti, Bandar Sunway, Petaling Jaya - 46150 Selangor Darul Ehsan</addrLine><country key="MY"></country></address><ref type="url">http://www.monash.edu.au/</ref></desc><listRelation><relation active="#struct-300792" type="direct"></relation></listRelation><tutelles><tutelle active="#struct-300792" type="direct"><org type="institution" xml:id="struct-300792" status="VALID"><orgName>Monash University</orgName><desc><address><addrLine>Melbourne</addrLine><country key="AU"></country></address></desc></org></tutelle></tutelles></hal:affiliation><country>Malaisie</country></affiliation></author></analytic></biblStruct></sourceDesc></fileDesc><profileDesc><textClass><keywords scheme="mix" xml:lang="en"><term>haptic device</term><term>parallel manipulator</term><term>shape optimization</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">This paper deals with the shape optimization of a six degree-of-freedom haptic interface device. This six-dof epicyclic-parallel manipulator has all actuators located on the ground. A regular dexterous workspace is introduced to represent the mobility of user's hand. Throughout this workspace, the deviation of the mobile platform is bounded to provide a better feeling to the user and the masses in motion are minimized to increase the transparency of the haptic device. The stiffness model is written using a virtual joint method and compared with the results obtained with the finite element analysis to be validated. Finally, the shape of the links are optimized in order to minimize the masses in motion while guaranteeing a given stiffness throughout the regular workspace of the mechanism.</div></front></TEI><affiliations><list><country><li>France</li><li>Malaisie</li></country></list><tree><country name="France"><noRegion><name sortKey="Caro, Stephane" sort="Caro, Stephane" uniqKey="Caro S" first="Stéphane" last="Caro">Stéphane Caro</name></noRegion><name sortKey="Chablat, Damien" sort="Chablat, Damien" uniqKey="Chablat D" first="Damien" last="Chablat">Damien Chablat</name></country><country name="Malaisie"><noRegion><name sortKey="Chen, Chao" sort="Chen, Chao" uniqKey="Chen C" first="Chao" last="Chen">Chao Chen</name></noRegion></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Exploration
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 002007 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd -nk 002007 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= Main
|étape= Exploration
|type= RBID
|clé= Hal:hal-00685896
|texte= Elastostatic modeling and shape optimization of a 6-dof haptic interface device
}}
| This area was generated with Dilib version V0.6.23. |  |