14427

1341 دكتري

دكتري

مهندسي مكانيك

اصفهان : دانشگاه صنعتي اصفهان

1397

شانزده، [130]ص.: مصور، جدول، نمودار

سعيد بهبهاني

مهدي كشميري، علي نحوي

علي مقداري، مصطفي غيور، محمد دانش

1397/12/19

كتابنامه

مكانيك

مهندسي مكانيك

1397/12/21

ID1341 دكتري

Theoretical and Experimental Study of Haptic Device Stability Ahmad Mashayekhi a mashayekhi@me iut ac ir February 2019 Department of Mechanical Engineering Isfahan University of Technology Isfahan 84146 83111 IranSaeed Behbahani behbahani@cc iut ac ir Supervisor Mehdi Keshmiri mehdik@cc iut ac ir Advisor Ali Nahvi Nahvi@kntu ac ir Advisor Department Graduate Program CoordinatorAbstractIn this thesis new closed form equations for stability analysis of a linear haptic device are presentedusing two different methods of frequency and state space analysis The developed equationsprovide critical virtual damping and stiffness of the virtual environment versus mass and viscousfriction of the haptic device sampling time and time delay Unlike prior work in this field thedeveloped equations are valid without any limitation on the values of the time delay and virtualdamping It is shown that they cover available well known equations in literature for special casesof small values of virtual damping and time delay The resulting equations are of practicalusefulness in many fields such as surgery simulation for avoiding instability during virtual toolinteraction with high stiffness virtual environments The proposed analytical derivation can alsobe used for studying the effect of operator sensors actuator dynamics and velocity filtering Simulation and experimental results on the KUKA Light Weight Robot LWR show that theproposed criterion can accurately predict the stability boundaries Also describing function of Karnopp and LuGre friction models are determined for the first time Using these describing functions dynamic phenomenas such as Stribeck effect sticksion variablebreak away force Hysteresis and frictional lag are involved in stability of haptic devices Simulations show that stability boundaries can be determined with good precision in this case Keywords Haptic devices stability time delay describing function Karnopp friction LuGrefriction LMI 1 IntroductionA haptic system consists of a haptic interface which is in contact with an operator The hapticinterface commonly includes several elements such as haptic device controller virtualenvironment VE and visual display 1 When touching a real object the contact condition andtransformed forces between a human operator and a large number of objects can be modeled by aspring and damper Therefore virtual environment is modeled as a spring and damper withcoefficients of and respectively in discrete domain Department of Mechanical Engineering Isfahan University of Technology Isfahan 84156 83111 Isfahan Iran Faculty of Mechanical Engineering K N Toosi University of Technology Tehran 19395 1999 Tehran Iran 1

سعيد بهبهاني

مهدي كشميري، علي نحوي

علي مقداري، مصطفي غيور، محمد دانش