@InProceedings{Satici2010a,
	booktitle = {International Symposium of Mechanism and Machine Theory, AzCIFToMM},
	author = {Aykut Cihan Satici and Alper Mehmet Ergin and Volkan Patoglu},
	title = {Design and Multi-criteria Optimization of a Haptic Interface},
	year = {2010},
	abstract = {This paper presents the design and the optimal dimensional synthesis of a common haptic interface with closed kinematic chains: The Modified Delta Robot. Optimization of the device is performed with respect to
multiple design objectives, namely kinematic and dynamic criteria. Both performance measures are discussed in detail and optimization problems for a haptic interface with best worst-case kinematic and dynamic performance are
formulated. Normal Boundary Intersection method is applied to efficiently obtain the Pareto-front hyper-surface characterizing the trade-off between these multiple design criteria. An ``optimal'' design is selected studying the
Pareto-front curve and considering the primary and secondary design criteria. Once the dimensions of the device are decided, the haptic interface is implemented utilizing an optimized capstan ratio driven by double DC motors per
shaft. The final design possesses good transparency and high bandwidth thanks to the optimal dimensioning of the parallel kinematic structure.}
}

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