Design of a new 6-DOF parallel haptic device

Optimal Design of Haptic Interfaces

“…Among several approaches proposed in literature, normalization with a characteristic length (Khan & Angeles, 2006;Krefft & Hesselbach, 2005b) or a nominal link length (Lee et al, 2001), and partitioning the matrices into translational and rotational parts (Krefft & Hesselbach, 2005b;Lee & Kim, 2006) are the most popular choices. Normalization is not necessary for the sample problem presented in this chapter, as it possesses only a translational workspace.…”

“…Multiple objectives are considered sequentially in (Alici & Shirinzadeh, 2004;Krefft et al, 2005;Risoli et al, 1999;Stocco et al, 1998) by searching for parameter sets resulting in near optimal kinematic performance and then selecting the design exhibiting the best dynamic performance from this reduced parameter space. Task-priority (Chen et al, 1995), probabilistic weighting (McGhee et al, 1994), composite index (Lee et al, 2001), and tabular methods (Yoon & Ryu, 2001) are among the other scalarization approaches that consider multiple criteria. Scalarization methods possess the inherent disadvantage of their aggregate objective functions requiring preferences or weights to be determined apriori, i.e before the results of the optimization process are actually known (de Weck, 2004).…”

Development of a six DOF haptic master for teleoperation of a mobile manipulator

“…Yoon et al [11] suggested a parallel mechanism in which all the actuators were located at the base, thereby leading to low inertia of the moving bodies. Similar six DOF parallel haptic devices have been proposed in which all the actuators are fixed at the base frame [12,13,15].…”

A Multi-criteria Design Optimization Framework for Haptic Interfaces

“…Multiple objectives are considered sequentially in [1,12,23,26] by searching for parameter sets resulting in near optimal kinematic performance and then selecting the design exhibiting the best dynamic performance from this reduced parameter space. Task-priority [3], probabilistic weighting [20], composite index [15], and tabular methods [30] are among the other approaches that consider multiple criteria.…”