20.500.12556/DKUM-12696 VPLIV ZNAČILNOSTI VRVNEGA POGONA NA DELOVANJE HAPTIČNEGA MEHANIZMA THE INFLUENCE OF CABLE DRIVE CHARACTERISTICS ON PERFORMANCE OF HAPTIC MECHANISM Haptični vmesnik je naprava, ki s povratno silo uporabniku omogoča vključenost v navidezno ali oddaljeno okolje oziroma raziskovanje v tem okolju s podrejeno napravo. Naprave, ki so kompatibilne z magnetno resonanco (MR), imajo zaradi magnetnega polja določene specifične strukturne in obratovalne značilnosti. Tekom razvoja MR-kompatibilnega haptičnega mehanizma smo zaznali nekatere probleme in pomembne lastnosti, ki so skupne vsem robotskim napravam, ki delujejo v MR-tunelu. Tako smo oblikovali kinematični model, ki omogoča izdelavo optimalnejšega mehanizma z enakomerno porazdeljenimi silami in hitrostmi. Delo obravnava gibljivost novega haptičnega mehanizma s tremi prostostnimi stopnjami. Gibljivost je prikazana grafično, pri čemer je upoštevana tudi omejenost prostora. Razvili smo 3D-vizualizacijsko metodo za analizo gibljivosti haptičnih mehanizmov v MR-okolju. Rešitev omogoča kvantitativni 3D-prikaz za vsako točko delovnega prostora mehanizma z vnaprej izbrano ločljivostjo. Presek med omejenim območjem in celotnim delovnim prostorom prikaže zmožnost izvajanja gibov. Ena izmed ključnih stvari pri načrtovanju mehanizma haptičnega vmesnika je tudi izbor pogonskega sistema, da zagotovimo kvaliteten prenos sile. Vrvni pogon ima nekaj izjemnih lastnosti glede natančnega pozicioniranja in omogoča natančen prenos sile. Vrvni pogon je tudi najpogosteje uporabljena pogonska rešitev v haptičnih napravah in to zaradi majhnega jalovega giba, togosti, povratne gibljivosti in enostavnosti za izdelavo. V nalogi je predstavljen teoretični model vrvnega pogona za MR-kompatibilen haptični mehanizem s tremi prostostnimi stopnjami. Obravnavane so togost pogona z upoštevanjem histereznega obnašanja in obratovalne lastnosti ob uporabi različnih dimenzij vrvi in vrvenic. Prav tako so predstavljene prilagoditve za zagotovitev MR-kompatibilnosti vrvnega pogona, gnanega z elektromotorji. Ta model je v pomoč pri določanju optimalnih lastnosti z izborom materiala, napetosti vrvi, prestavnega razmerja in števila ovojev. A haptic interface is a force feedback device, which enables its user to interact within a virtual world or a remote environment explored by a slave device. Magnetic resonance (MR) compatible devices have certain specific structural and operational properties, because of the magnetic field. Through the development of a haptic mechanism, which is compatible with a magnetic resonance environment, we noticed some problems and important points, which are common to all robotic devices that operate in an MR tunnel. Therefore, we have designed a kinematic model, which leads to an optimization of our mechanism with uniform distribution of velocities and forces. This thesis deals with the manipulability problem of a novel 3 DOF MR compatible haptic mechanism, considering limited space and its visualization. An appropriate 3D visualization method has been developed for analyzing the manipulability characteristics of a haptic mechanism within an MR environment. This solution enables the plotting of quantitative 3D representation for each point in the mechanism workspace, using selected resolution which can be determined in advance. The cross-section between the limited space and the whole arbitrary workspace shows the ability for movement execution. Choosing a suitable driving system is also one of the crucial design attributes for quality force transmission in haptic interfaces. A cable drive has some outstanding properties regarding precision positioning and enables accurate force transmission. A cable drive is the most widely used driving solution in haptic devices due to its low backlash, stiffness, backdrivability, and simplicity. This work deals with the theoretical modelling of cable drive for a 3 DOF MR compatible haptic mechanism. It focuses on an appropriate cable preload, hysteresis behaviour and driving performance when using different cables and drum diameters. The paper also introduces certain adaptations, which have been done to enable MR compatibility of a cable drive driven by an electric motors. This model will help when designing a drive with optimal characteristics by defining adequate materials, cable tension, gear ratios, and the number of windings. vrvni pogon haptika magnetna resonanca robotika mehanizmi gibljivost MR-kompatibilnost cable drive haptics magnetic resonance robotics mechanisms manipulability MR-Compatibility true true false [M. Rajh] Slovenski jezik Angleški jezik Doktorska disertacija 2009-12-13 01:53:14 2009-12-17 07:48:36 2022-04-12 07:43:24 2022-04-20 03:11:29 2009 0 Maribor 0 0000-00-00 NiDoloceno NiDoloceno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 621.85-585.4(043.3) 249184768 URN:SI:UM:DK:AOVS6JAF DR_Rajh_Matej_2009.pdf DR_Rajh_Matej_2009.pdf 1 0E7D1A7A18F144D4B99C4B63D9646AA8 6af16e54d0bfd19694dfaff64c967b5f021ec356cb78e72947f7a8bc17896ea0 b969dd05-7c03-11eb-bb7a-00155d0001ca 20.500.12556/dkum/e192a337-b38b-4a5f-a347-ab2eb53dc1cb https://dk.um.si/Dokument.php?lang=slv&id=12369 Fakulteta za strojništvo 0 0 0