Optimal design of a new 3D haptic gripper for telemanipulation, featuring magnetorheological fluid brakes
Identifieur interne : 000222 ( PascalFrancis/Corpus ); précédent : 000221; suivant : 000223Optimal design of a new 3D haptic gripper for telemanipulation, featuring magnetorheological fluid brakes
Auteurs : Q. H. Nguyen ; S. B. Choi ; Y. S. Lee ; M. S. HanSource :
- Smart materials and structures [ 0964-1726 ] ; 2013.
Descripteurs français
- Pascal (Inist)
English descriptors
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Abstract
In this research work, a new configuration of a 3D haptic gripper for telemanipulation is proposed and optimally designed. The proposed haptic gripper, featuring three magnetorheological fluid brakes (MRBs), reflects the rolling torque, the grasping force and the approach force from the slave manipulator to the master operator. After describing the operational principle of the haptic gripper, an optimal design of the MRBs for the gripper is performed. The purpose of the optimization problem is to find the most compact MRB that can provide a required braking torque/force to the master operator while the off-state torque/force is kept as small as possible. In the optimal design, different types of MRBs and different MR fluids (MRFs) are considered. In order to obtain the optimal solution of the MRBs, an optimization approach based on finite element analysis (FEA) integrated with an optimization tool is used. The optimal solutions of the MRBs are then obtained and the optimized MRBs for the haptic gripper are identified. In addition, discussions on the optimal solutions and performance of the optimized MRBs are given.
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| NO : | PASCAL 13-0087550 INIST |
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| ET : | Optimal design of a new 3D haptic gripper for telemanipulation, featuring magnetorheological fluid brakes |
| AU : | NGUYEN (Q. H.); CHOI (S. B.); LEE (Y. S.); HAN (M. S.) |
| AF : | Smart Structures and Systems Laboratory, Department of Mechanical Engineering, Inha University/Incheon 402-751/Corée, République de (1 aut., 2 aut.); Faculty of Mechanical and Automotive Engineering, Keimyung University/Daegu 704-701/Corée, République de (3 aut., 4 aut.) |
| DT : | Publication en série; Niveau analytique |
| SO : | Smart materials and structures; ISSN 0964-1726; Royaume-Uni; Da. 2013; Vol. 22; No. 1; 015009.1-015009.17; Bibl. 19 ref. |
| LA : | Anglais |
| EA : | In this research work, a new configuration of a 3D haptic gripper for telemanipulation is proposed and optimally designed. The proposed haptic gripper, featuring three magnetorheological fluid brakes (MRBs), reflects the rolling torque, the grasping force and the approach force from the slave manipulator to the master operator. After describing the operational principle of the haptic gripper, an optimal design of the MRBs for the gripper is performed. The purpose of the optimization problem is to find the most compact MRB that can provide a required braking torque/force to the master operator while the off-state torque/force is kept as small as possible. In the optimal design, different types of MRBs and different MR fluids (MRFs) are considered. In order to obtain the optimal solution of the MRBs, an optimization approach based on finite element analysis (FEA) integrated with an optimization tool is used. The optimal solutions of the MRBs are then obtained and the optimized MRBs for the haptic gripper are identified. In addition, discussions on the optimal solutions and performance of the optimized MRBs are given. |
| CC : | 001B00G07T; 001B80C80G |
| FD : | Frein; Optimisation; Méthode élément fini; Performance; Préhenseur; Télémanipulation; Fluide magnétorhéologique; Interface haptique |
| ED : | Brakes; Optimization; Finite element method; Performance; Gripper; Remote handling; Magnetorheological fluid; Haptic interfaces |
| SD : | Prensor(robot); Fluido magnetoreologico |
| LO : | INIST-26248.354000506269450250 |
| ID : | 13-0087550 |
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Lee</name><affiliation><inist:fA14 i1="02"><s1>Faculty of Mechanical and Automotive Engineering, Keimyung University</s1><s2>Daegu 704-701</s2><s3>KOR</s3><sZ>3 aut.</sZ><sZ>4 aut.</sZ></inist:fA14></affiliation></author><author><name sortKey="Han, M S" sort="Han, M S" uniqKey="Han M" first="M. S." last="Han">M. S. 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S." last="Han">M. S. Han</name><affiliation><inist:fA14 i1="02"><s1>Faculty of Mechanical and Automotive Engineering, Keimyung University</s1><s2>Daegu 704-701</s2><s3>KOR</s3><sZ>3 aut.</sZ><sZ>4 aut.</sZ></inist:fA14></affiliation></author></analytic><series><title level="j" type="main">Smart materials and structures</title><title level="j" type="abbreviated">Smart mater. struc.</title><idno type="ISSN">0964-1726</idno><imprint><date when="2013">2013</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">Smart materials and structures</title><title level="j" type="abbreviated">Smart mater. struc.</title><idno type="ISSN">0964-1726</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Brakes</term><term>Finite element method</term><term>Gripper</term><term>Haptic interfaces</term><term>Magnetorheological fluid</term><term>Optimization</term><term>Performance</term><term>Remote handling</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Frein</term><term>Optimisation</term><term>Méthode élément fini</term><term>Performance</term><term>Préhenseur</term><term>Télémanipulation</term><term>Fluide magnétorhéologique</term><term>Interface haptique</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">In this research work, a new configuration of a 3D haptic gripper for telemanipulation is proposed and optimally designed. The proposed haptic gripper, featuring three magnetorheological fluid brakes (MRBs), reflects the rolling torque, the grasping force and the approach force from the slave manipulator to the master operator. After describing the operational principle of the haptic gripper, an optimal design of the MRBs for the gripper is performed. The purpose of the optimization problem is to find the most compact MRB that can provide a required braking torque/force to the master operator while the off-state torque/force is kept as small as possible. In the optimal design, different types of MRBs and different MR fluids (MRFs) are considered. In order to obtain the optimal solution of the MRBs, an optimization approach based on finite element analysis (FEA) integrated with an optimization tool is used. The optimal solutions of the MRBs are then obtained and the optimized MRBs for the haptic gripper are identified. 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S.)</s1></fA11><fA14 i1="01"><s1>Smart Structures and Systems Laboratory, Department of Mechanical Engineering, Inha University</s1><s2>Incheon 402-751</s2><s3>KOR</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ></fA14><fA14 i1="02"><s1>Faculty of Mechanical and Automotive Engineering, Keimyung University</s1><s2>Daegu 704-701</s2><s3>KOR</s3><sZ>3 aut.</sZ><sZ>4 aut.</sZ></fA14><fA20><s2>015009.1-015009.17</s2></fA20><fA21><s1>2013</s1></fA21><fA23 i1="01"><s0>ENG</s0></fA23><fA43 i1="01"><s1>INIST</s1><s2>26248</s2><s5>354000506269450250</s5></fA43><fA44><s0>0000</s0><s1>© 2013 INIST-CNRS. All rights reserved.</s1></fA44><fA45><s0>19 ref.</s0></fA45><fA47 i1="01" i2="1"><s0>13-0087550</s0></fA47><fA60><s1>P</s1></fA60><fA61><s0>A</s0></fA61><fA64 i1="01" i2="1"><s0>Smart materials and structures</s0></fA64><fA66 i1="01"><s0>GBR</s0></fA66><fC01 i1="01" l="ENG"><s0>In this research work, a new configuration of a 3D haptic gripper for telemanipulation is proposed and optimally designed. 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H.); CHOI (S. B.); LEE (Y. S.); HAN (M. S.)</AU><AF>Smart Structures and Systems Laboratory, Department of Mechanical Engineering, Inha University/Incheon 402-751/Corée, République de (1 aut., 2 aut.); Faculty of Mechanical and Automotive Engineering, Keimyung University/Daegu 704-701/Corée, République de (3 aut., 4 aut.)</AF><DT>Publication en série; Niveau analytique</DT><SO>Smart materials and structures; ISSN 0964-1726; Royaume-Uni; Da. 2013; Vol. 22; No. 1; 015009.1-015009.17; Bibl. 19 ref.</SO><LA>Anglais</LA><EA>In this research work, a new configuration of a 3D haptic gripper for telemanipulation is proposed and optimally designed. The proposed haptic gripper, featuring three magnetorheological fluid brakes (MRBs), reflects the rolling torque, the grasping force and the approach force from the slave manipulator to the master operator. After describing the operational principle of the haptic gripper, an optimal design of the MRBs for the gripper is performed. The purpose of the optimization problem is to find the most compact MRB that can provide a required braking torque/force to the master operator while the off-state torque/force is kept as small as possible. In the optimal design, different types of MRBs and different MR fluids (MRFs) are considered. In order to obtain the optimal solution of the MRBs, an optimization approach based on finite element analysis (FEA) integrated with an optimization tool is used. The optimal solutions of the MRBs are then obtained and the optimized MRBs for the haptic gripper are identified. In addition, discussions on the optimal solutions and performance of the optimized MRBs are given.</EA><CC>001B00G07T; 001B80C80G</CC><FD>Frein; Optimisation; Méthode élément fini; Performance; Préhenseur; Télémanipulation; Fluide magnétorhéologique; Interface haptique</FD><ED>Brakes; Optimization; Finite element method; Performance; Gripper; Remote handling; Magnetorheological fluid; Haptic interfaces</ED><SD>Prensor(robot); Fluido magnetoreologico</SD><LO>INIST-26248.354000506269450250</LO><ID>13-0087550</ID></server></inist></record>Pour manipuler ce document sous Unix (Dilib)
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