Optimal design of a kinesthetic haptic device mechanism for enhancing its impedance characteristics
Görgülü, İbrahimcan, author.

Optimal design of a kinesthetic haptic device mechanism for enhancing its impedance characteristics

Görgülü, İbrahimcan, author.

Yazar Ek Girişi
Görgülü, İbrahimcan, author.

Fiziksel Tanımlama
xiv, 162 leaves: illustrarions, charts;+ 1 computer laser optical disc.

In this work, the optimal design of modified version of 3 degrees of freedom RCUBE mechanism has been studied in order to develop a high-performance haptic device mechanism. A high-performance haptic mechanism is achieved by having high transparency and high-frequency range. These two properties are determined by the mechanical impedance of the mechanism. Hence, to increase the quality of a haptic mechanism, its mechanical impedance performance must be enhanced. This refers to have low inertia, low friction, high back-drivability, high force output, high structural stiffness, and high manipulability for the mechanism. All these properties are designated by kinematic, stiffness, and dynamic properties of the mechanism. Hence, as a first step of this thesis, kinematic, stiffness and dynamic models of the mechanism are analytically procured. The analytical model of stiffness is achieved via the virtual joint method. Then, in order to obtain the objective function for the design procedure, performance metrics affecting the above-mentioned properties are reviewed and produced. Since these metrics have common parameters such as link lengths and the cross-section area of the links, there is a highly non-linear and contradictory relationship between the metrics. In order to deal with the non-linearity and to determine the global optimum design, an evolutionary optimization method, genetic algorithm, is preferred. The optimization time is reduced by investigating the most critical poses of the workspace and reducing the performance metrics to simpler forms. The link lengths and the cross-section areas are optimized. Carbon fiber tubes are used as links. The Pareto-front solution set is obtained as a result of the optimization procedure.Finally, an optimal solution is proposed and evaluated for the design of this modified R-CUBE mechanism to be used in haptic applications.

Konu Başlığı
Haptic devices.
Mechanical impedance.

Yazar Ek Girişi
Dede, Mehmet İsmet Can,

Tüzel Kişi Ek Girişi
İzmir Institute of Technology. Mechanical Engineering.

Tek Biçim Eser Adı
Thesis (Master)--İzmir Institute of Technology: Mechanical Engineering.
İzmir Institute of Technology: Mechanical Engineering--Thesis (Master).

Elektronik Erişim
Access to Electronic Versiyon.

LibraryMateryal TürüDemirbaş NumarasıYer NumarasıDurumu/İade Tarihi
IYTE LibraryTezT001786QA76.9.H85 G66 2018Tez Koleksiyonu