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Design optimization, impedance control and characterization of a Modified Delta Robot

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3 Author(s)
Ergin, M.A. ; Fac. of Eng. & Natural Sci., Sabanci Univ., İstanbul, Turkey ; Satici, A.C. ; Patoglu, V.

Optimal dimensional synthesis, impedance control and experimental characterization a Modified Delta Mechanism based haptic interface are presented. In particular, a multi-criteria design optimization problem is formulated to maximize the transparency of the device. Kinetostatic and dynamic performance indices are optimized simultaneously to reveal design trade-offs between these metrics and an optimal solution is selected from the non-dominated solution set by studying these design trade-offs and considering primary design criteria. A prototype Modified Delta Robot with the optimal dimensions is constructed. A high fidelity model of the robot is formulated and the device is controlled using open-loop impedance control. Finally, the performance of the device is tested and experimental characterization results are presented.

Published in:

Mechatronics (ICM), 2011 IEEE International Conference on

Date of Conference:

13-15 April 2011