HapticV1, PascalFrancis, Corpus, bibRecord, 000D52

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

Identifieur interne : 000D52 ( PascalFrancis/Corpus ); précédent : 000D51; suivant : 000D53

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

Auteurs : Kostas Vlachos ; Evangelos Papadopoulos ; Dionissios N. Mitropoulos

Source :

RBID : Pascal:06-0269743

Descripteurs français

Pascal (Inist)
- Inertie, Frottement, Sensibilité tactile, Domaine travail, Point fonctionnement, Simulateur, Mécanisme articulé, Minimisation, Programmation multiobjectif, Optimisation, Fonction objectif, Système 5 degrés liberté.

English descriptors

KwdEn :
- Friction, Inertia, Linkage mechanism, Minimization, Multiobjective programming, Objective function, Operating point, Optimization, Simulator, System with five degrees of freedom, Tactile sensitivity, Workspace.

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.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

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A09	`01`	`1`	`ENG`	`@1 2004 IEEE International Conference on Robotics and Automation : April 26-May 1, 2004, Hilton New Orleans Riverside, New Orleans, LA, USA : Proceedings`
A11	`01`	`1`		`@1 VLACHOS (Kostas)`
A11	`02`	`1`		`@1 PAPADOPOULOS (Evangelos)`
A11	`03`	`1`		`@1 MITROPOULOS (Dionissios N.)`
A14	`01`			`@1 Department of Mechanical Engineering National Technical University of Athens @2 15780 Athens @3 GRC @Z 1 aut. @Z 2 aut.`
A14	`02`			`@1 School of Medicine National Kapodistrian University of Athens @2 11527 Athens @3 GRC @Z 3 aut.`
A18	`01`	`1`		`@1 IEEE Robotics and automation society @3 USA @9 org-cong.`
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A23	`01`			`@0 ENG`
A25	`01`			`@1 IEEE @2 Piscataway NJ`
A26	`01`			`@0 0-7803-8232-3`
A30	`01`	`1`	`ENG`	`@1 IEEE International Conference on Robotics and Automation @2 21 @3 New Orleans LA USA @4 2004`
A43	`01`			`@1 INIST @2 Y 38842 @5 354000153471320460`
A44				`@0 0000 @1 © 2006 INIST-CNRS. All rights reserved.`
A45				`@0 15 ref.`
A47	`01`	`1`		`@0 06-0269743`
A60				`@1 C`
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A66	`01`			`@0 USA`
C01	`01`		`ENG`	@0 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.
C02	`01`	`X`		`@0 001D12E06`
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C03	`01`	`X`	`SPA`	`@0 Inercia @5 18`
C03	`02`	`X`	`FRE`	`@0 Frottement @5 19`
C03	`02`	`X`	`ENG`	`@0 Friction @5 19`
C03	`02`	`X`	`SPA`	`@0 Frotamiento @5 19`
C03	`03`	`X`	`FRE`	`@0 Sensibilité tactile @5 20`
C03	`03`	`X`	`ENG`	`@0 Tactile sensitivity @5 20`
C03	`03`	`X`	`SPA`	`@0 Sensibilidad tactil @5 20`
C03	`04`	`X`	`FRE`	`@0 Domaine travail @5 21`
C03	`04`	`X`	`ENG`	`@0 Workspace @5 21`
C03	`04`	`X`	`SPA`	`@0 Dominio trabajo @5 21`
C03	`05`	`X`	`FRE`	`@0 Point fonctionnement @5 22`
C03	`05`	`X`	`ENG`	`@0 Operating point @5 22`
C03	`05`	`X`	`SPA`	`@0 Punto funcionamiento @5 22`
C03	`06`	`X`	`FRE`	`@0 Simulateur @5 23`
C03	`06`	`X`	`ENG`	`@0 Simulator @5 23`
C03	`06`	`X`	`SPA`	`@0 Simulador @5 23`
C03	`07`	`X`	`FRE`	`@0 Mécanisme articulé @5 24`
C03	`07`	`X`	`ENG`	`@0 Linkage mechanism @5 24`
C03	`07`	`X`	`SPA`	`@0 Mecanismo articulado @5 24`
C03	`08`	`X`	`FRE`	`@0 Minimisation @5 28`
C03	`08`	`X`	`ENG`	`@0 Minimization @5 28`
C03	`08`	`X`	`SPA`	`@0 Minimización @5 28`
C03	`09`	`X`	`FRE`	`@0 Programmation multiobjectif @5 29`
C03	`09`	`X`	`ENG`	`@0 Multiobjective programming @5 29`
C03	`09`	`X`	`SPA`	`@0 Programación multiobjetivo @5 29`
C03	`10`	`X`	`FRE`	`@0 Optimisation @5 30`
C03	`10`	`X`	`ENG`	`@0 Optimization @5 30`
C03	`10`	`X`	`SPA`	`@0 Optimización @5 30`
C03	`11`	`X`	`FRE`	`@0 Fonction objectif @5 31`
C03	`11`	`X`	`ENG`	`@0 Objective function @5 31`
C03	`11`	`X`	`SPA`	`@0 Función objetivo @5 31`
C03	`12`	`X`	`FRE`	`@0 Système 5 degrés liberté @4 CD @5 96`
C03	`12`	`X`	`ENG`	`@0 System with five degrees of freedom @4 CD @5 96`
C03	`12`	`X`	`SPA`	`@0 Sistema 5 grados libertad @4 CD @5 96`
N21				`@1 170`
N44	`01`			`@1 OTO`
N82				`@1 OTO`

Format Inist (serveur)

NO :	PASCAL 06-0269743 INIST
ET :	Mass/ inertia and joint friction minimization for a low-force five-dof haptic device
AU :	VLACHOS (Kostas); PAPADOPOULOS (Evangelos); MITROPOULOS (Dionissios N.)
AF :	Department of Mechanical Engineering National Technical University of Athens/15780 Athens/Grèce (1 aut., 2 aut.); School of Medicine National Kapodistrian University of Athens/11527 Athens/Grèce (3 aut.)
DT :	Congrès; Niveau analytique
SO :	IEEE International Conference on Robotics and Automation/21/2004/New Orleans LA USA; Etats-Unis; Piscataway NJ: IEEE; Da. 2004; Pp. 286-291; ISBN 0-7803-8232-3
LA :	Anglais
EA :	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.
CC :	001D12E06; 001D02D
FD :	Inertie; Frottement; Sensibilité tactile; Domaine travail; Point fonctionnement; Simulateur; Mécanisme articulé; Minimisation; Programmation multiobjectif; Optimisation; Fonction objectif; Système 5 degrés liberté
ED :	Inertia; Friction; Tactile sensitivity; Workspace; Operating point; Simulator; Linkage mechanism; Minimization; Multiobjective programming; Optimization; Objective function; System with five degrees of freedom
SD :	Inercia; Frotamiento; Sensibilidad tactil; Dominio trabajo; Punto funcionamiento; Simulador; Mecanismo articulado; Minimización; Programación multiobjetivo; Optimización; Función objetivo; Sistema 5 grados libertad
LO :	INIST-Y 38842.354000153471320460
ID :	06-0269743

Links to Exploration step

Pascal:06-0269743

Le document en format XML

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<front><div type="abstract" xml:lang="en">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.</div>
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<server><NO>PASCAL 06-0269743 INIST</NO>
<ET>Mass/ inertia and joint friction minimization for a low-force five-dof haptic device</ET>
<AU>VLACHOS (Kostas); PAPADOPOULOS (Evangelos); MITROPOULOS (Dionissios N.)</AU>
<AF>Department of Mechanical Engineering National Technical University of Athens/15780 Athens/Grèce (1 aut., 2 aut.); School of Medicine National Kapodistrian University of Athens/11527 Athens/Grèce (3 aut.)</AF>
<DT>Congrès; Niveau analytique</DT>
<SO>IEEE International Conference on Robotics and Automation/21/2004/New Orleans LA USA; Etats-Unis; Piscataway NJ: IEEE; Da. 2004; Pp. 286-291; ISBN 0-7803-8232-3</SO>
<LA>Anglais</LA>
<EA>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.</EA>
<CC>001D12E06; 001D02D</CC>
<FD>Inertie; Frottement; Sensibilité tactile; Domaine travail; Point fonctionnement; Simulateur; Mécanisme articulé; Minimisation; Programmation multiobjectif; Optimisation; Fonction objectif; Système 5 degrés liberté</FD>
<ED>Inertia; Friction; Tactile sensitivity; Workspace; Operating point; Simulator; Linkage mechanism; Minimization; Multiobjective programming; Optimization; Objective function; System with five degrees of freedom</ED>
<SD>Inercia; Frotamiento; Sensibilidad tactil; Dominio trabajo; Punto funcionamiento; Simulador; Mecanismo articulado; Minimización; Programación multiobjetivo; Optimización; Función objetivo; Sistema 5 grados libertad</SD>
<LO>INIST-Y 38842.354000153471320460</LO>
<ID>06-0269743</ID>
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</inist>
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Mass/ inertia and joint friction minimization for a low-force five-dof haptic device

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

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