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Design optimization of haptic device - A systematic literature review
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).ORCID iD: 0000-0002-6528-1371
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).ORCID iD: 0000-0001-6692-2794
KTH, School of Industrial Engineering and Management (ITM), Machine Design (Dept.).
(English)In: Article in journal (Refereed) Submitted
Abstract [en]

Performance requirements for high-performing haptic devices are usually multi-criteria. Sometimes the requirements are interacting, and several of them are conflicting. Optimization is one of the main approaches to scrutinize the design space and to search for a design that satisfies all requirements. Many researchers have used and published optimization approaches to search for an optimal haptic device design. However, predicting the performance of a high-performing haptic device usually involves computationally intensive simulations and analyses with complex and heterogeneous models. In order to study what are the common design and performance requirements of haptic devices and what optimization approaches have been used to improve optimization effectiveness and efficiency, a literature review on the present state-of-the-art in these areas has been performed. The most commonly used performance requirements presented in the literature are the number of degrees-of-freedom, dynamic inertia, kinematic isotropy, stiffness, peak and continuous force, position/force resolution, and bandwidth. Furthermore, parallel and hybrid kinematic structures are more commonly used than serial structures. Multi-objective optimization (MOO) is a commonly used approach to simultaneously optimize all performance criteria. The most common optimization targets, as presented in published literature, are to maximize workspace, kinematic isotropy, as well as the peak force/torque provided by the device, and to minimize the dynamic inertia. Commonly used indices to constrain the design space are a minimum workspace, avoidance of singularities and motion limits of active and passive joints. The number of design variables varies from 2 to 9, and the most commonly used design variables are a set of mechanical parameters, such as the lengths and diameters of the mechanical components. To increase the efficiency of complex and multi-criteria optimization tasks, the Pareto-front approach combined with multidisciplinary design optimization (MDO) and metamodel techniques are recommended.

Keyword [en]
Product design, design optimization, haptic interface, multi-criteria, system requirement
National Category
Mechanical Engineering
Identifiers
URN: urn:nbn:se:kth:diva-217324OAI: oai:DiVA.org:kth-217324DiVA: diva2:1155505
Note

QC 20171108

Available from: 2017-11-08 Created: 2017-11-08 Last updated: 2017-11-08Bibliographically approved
In thesis
1. A methodology for situated and effective design of haptic devices
Open this publication in new window or tab >>A methodology for situated and effective design of haptic devices
2017 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

The realism of virtual surgery through a surgical simulator depends largely on the precision and reliability of the haptic device. The quality of perception depends on the design of the haptic device, which presents a complex design task due to the multi-criteria and conflicting character of the functional and performance requirements. In the model-based evaluation of the performance criteria of a haptic device, the required computational resources increase with the complexity of the device structure as well as with the increased level of detail that is created in the detail design phases. Due to uncertain requirements and a significant knowledge gap, the design task is fuzzy and more complex in the early design phases.

The goal of this thesis is to propose a situated, i.e., flexible, scalable and efficient, methodology for multi-objective and multi-disciplinary design optimization of high-performing 6-DOF haptic devices.

The main contributions of this thesis are:

1. A model-based and simulation-driven engineering design methodology and a flexible pilot framework are proposed for design optimization of high-performing haptic devices. The multi-disciplinary design optimization method was utilized to balance the conflicting criteria/requirements of a multi-domain design case and to solve the design optimization problems concurrently.

2. A multi-tool framework is proposed. The framework integrates metamodel-based design optimization with complementary engineering tools from different software vendors, which was shown to significantly reduce the total computationally effort.

3. The metamodeling methods and sampling sizes for specific performance indices found from case studies were shown to be applicable and usable for several kinds of 6-degrees-of-freedom haptic devices.

4. The multi-tool framework and the assisting methodology were further developed to enable computationally efficient and situated design multi-objective optimization of high-performing haptic devices. The design-of-experiment (DOE) and metamodeling techniques are integrated with the optimization process in the framework as an option to solve the design optimization case with a process that depends on the present system complexity.

Place, publisher, year, edition, pages
KTH Royal Institute of Technology, 2017. 66 p.
Series
TRITA-MMK, ISSN 1400-1179 ; 2017:13
Keyword
Design optimization, haptic devices, metamodel, multi-criteria, situatedness
National Category
Mechanical Engineering
Research subject
Machine Design
Identifiers
urn:nbn:se:kth:diva-217327 (URN)978-91-7729-573-0 (ISBN)
Public defence
2017-11-29, Gladan, Brinellvägen 85, Stockholm, 10:00 (English)
Supervisors
Note

QC 20171108

Available from: 2017-11-08 Created: 2017-11-08 Last updated: 2017-11-08Bibliographically approved

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