Multi-objective design optimization of the Delthaptic, a new 6-DOF haptic device

Said Zeghloul (1) , Margot Vulliez (1)

1 PPrime [Poitiers] - Institut Pprime [UPR 3346]

The optimization of the geometric parameters of a mechanism according to some desired objectives is an important aspect of design. The paper presents the multi-objective optimization of a new 6DOF haptic device, the Delthaptic. The design requirements are classified into constraints or objectives according to their priority and their assumed influence. It allows to simply formulate the optimization problem by using a Penalty method. An optimal solution is chosen into the resulting Pareto front and geometric parameters are fixed.

Domaines: Automatique / Robotique; Génie mécanique [physics.class-ph]; Ingénierie assistée par ordinateur

Said Zeghloul, Margot Vulliez. Multi-objective design optimization of the Delthaptic, a new 6-DOF haptic device. 14th International Conference on Industrial Informatics (INDIN 2016), IEEE, Jul 2016, Poitiers, France. pp.248-253, ⟨10.1109/INDIN.2016.7819167⟩. ⟨hal-03590011⟩