(IEEE 8th International Conference on Application of Information and Communication Technologies, 2014) Folgheraiter, Michele
This paper introduces a methodology and a software
framework intended to optimize and speed up the design process
of a haptic interface or a rehabilitation system. Starting from
an initial mechanical design the procedure allows to export the
kinematic and dynamic properties of the robotic system in a
simulation environment. The software receives as additional input
the Cartesian or joints trajectories and generates as output the
required torques at the joints. From the recorded measurements
the program extracts the torque ranges necessary to choose a
suitable actuation system for the robot. The possibility to run
the simulation in batch modality allows also to define different
optimization techniques that may be used to reduce the overall
system weight or increase its payload