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  • Haptic Manipulator Concept Scoring Matrix Analysis

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    Sudhakar Senthil
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    The document presents three concept scoring matrices that were used to evaluate and rank different design ideas for a haptic manipulator project. The matrices assign scores to 12 design ideas based on how well they meet 11 criteria such as linearity, manufacturability, torque to force ratio, and cost. The highest ranked ideas included a pincher design and rotational input device.

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    Concept Scoring Matrix

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    The document presents three concept scoring matrices that were used to evaluate and rank different design ideas for a haptic manipulator project. The matrices assign scores to 12 design ideas based on how well they meet 11 criteria such as linearity, manufacturability, torque to force ratio, and cost. The highest ranked ideas included a pincher design and rotational input device.

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    Attribution Non-Commercial (BY-NC)
    Download as DOC, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    6 views4 pages

    Haptic Manipulator Concept Scoring Matrix Analysis

    Uploaded by

    Sudhakar Senthil
    The document presents three concept scoring matrices that were used to evaluate and rank different design ideas for a haptic manipulator project. The matrices assign scores to 12 design ideas based on how well they meet 11 criteria such as linearity, manufacturability, torque to force ratio, and cost. The highest ranked ideas included a pincher design and rotational input device.

    Copyright:

    Attribution Non-Commercial (BY-NC)
    Download as DOC, PDF, TXT or read online from Scribd
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    of 4

    Team name __Force Feelin’____ Project name __Haptic Manipulator___ DATE __11-16-03__

    CONCEPT SCORING MATRIX Baseline = Idea #1_


    Gripper
    DESIGN IDEAS
    CRITERIA FACTOR 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12.
    Linearity 4 .5 2 1 4 1 4 1 4 1 4 1 4 1 4 .5 2 1 4 1 4 1 4 1 4
    Manufacturability 3 .5 1.5 0 0 0 0 0 0 0 0 .5 1.5 0 0 0 0 .5 1.5 1 3 .5 1.5 1 3
    General 5 .5 2.5 0 0 .5 2.5 0 0 0 0 .5 2.5 0 0 0 0 .5 2.5 .5 2.5 .5 2.5 1 5
    Complexity
    Torque to Force 3 .5 1.5 1 3 .5 1.5 .5 1.5 1 3 1 3 .5 1.5 .5 1.5 1 3 1 3 0 0 1 3
    Speed 2 .5 1 0 0 .5 1 .5 1 .5 1 .5 1 1 0 0 0 0 0 0 0 1 2 0 0
    Accuracy 5 .5 2.5 1 5 1 5 1 5 1 5 1 5 1 2.5 .5 2.5 1 5 1 5 .5 2.5 1 5
    Cost 1 .5 .5 0 0 .5 .5 0 0 0 0 .5 .5 0 0 0 0 .5 .5 .5 .5 .5 .5 .5 .5
    Frictional Aspects 2 .5 1 0 0 1 2 1 2 1 2 1 2 0 0 0 0 0 0 1 2 .5 1 1 2
    Controllability 5 .5 2.5 1 5 1 5 1 5 1 5 1 5 1 2.5 .5 2.5 1 5 1 5 1 5 1 5
    Universality 4 .5 2 0 0 .5 2 .5 2 .5 2 .5 2 0 0 0 0 0 0 0 0 0 0 0 0

    TOTAL 17 17 23.5 20.5 22 26.5 17.5 7.5 21.5 25 19 27.5


    RANKING 9 9 4 7 5 2 8 12 6 3 7 1

    CONCEPT SCORING MATRIX Baseline = Idea #1

    /conversion/tmp/scratch/50648303.doc
    Team name __Force Feelin’____ Project name __Haptic Manipulator___ DATE __11-16-03__

    Pincher
    DESIGN IDEAS
    CRITERIA FACTOR 1. 2. 3. 4. 5. 6. 7. 8. 9. 10.
    Linearity 4 .5 2 1 4 1 4 1 4 1 4 1 4 1 4 .5 2 1 4
    Manufacturability 3 .5 1.5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
    General Complexity 5 .5 2.5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
    Torque to Force 3 .5 1.5 0 0 1 3 1 3 1 3 1 3 1 3 1 3 0 0
    Speed 2 .5 1 0 0 .5 1 .5 1 .5 1 .5 1 .5 1 0 0 0 0
    Accuracy 5 .5 2.5 1 5 1 5 1 5 1 5 1 5 1 5 .5 2.5 0 0
    Cost 1 .5 .5 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
    Controllability 5 .5 2.5 .5 2.5 1 5 1 5 1 5 1 5 1 5 .5 2.5 0 0
    Universality 4 .5 2 0 0 1 4 1 4 1 4 1 4 1 4 1 4 0 0
    Practicality 4 .5 2 .5 2 .5 2 .5 2 .5 2 .5 2 .5 2 0 0 0 0
    Frictional Aspects 2 .5 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 2

    TOTAL 19 13.5 24 24 24 24 20 14 6
    RANKIN 6 8 1 1 1 1 5 7 9
    G

    /conversion/tmp/scratch/50648303.doc
    Team name __Force Feelin’____ Project name __Haptic Manipulator___ DATE __11-16-03__

    CONCEPT SCORING MATRIX Baseline = Force Sensing Resistor


    Force Sensors
    DESIGN IDEAS
    CRITERIA FACTOR 1. FSR 2. Strain 3. gas 4. touch 5. piezo 6. flex 7. A/V
    Gauge pressure screen material resistor reading
    sensor
    Linearity 3 .5 1.5 1 3 1 3 .5 1.5 .5 1.5 .5 1.5 0 0
    Complexity 5 .5 2.5 0 0 .5 2.5 0 0 0 0 .5 2.5 1 5
    Accuracy 6 .5 3 1 6 1 6 0 0 0 0 0 0 0 0
    Cost 1 .5 .5 0 0 0 0 0 0 1 1 .5 .5 1 1
    Universality 5 .5 2.5 .5 2.5 .5 2.5 .5 2.5 .5 2.5 0 0 .5 2.5
    Practicality 4 .5 2 0 0 0 0 0 0 .5 2 0 0 0 0
    Size 2 .5 1 0 0 0 0 .5 1 .5 1 .5 1 1 1

    TOTAL 13 11.5 14 5 8 5.5 9.5


    RANKING 2 3 1 7 5 6 4

    CONCEPT SCORING MATRIX Baseline Joystick


    DESIGN IDEAS

    /conversion/tmp/scratch/50648303.doc
    Team name __Force Feelin’____ Project name __Haptic Manipulator___ DATE __11-16-03__

    CRITERIA FACTOR 1. 2. RID 3.


    Joystick Computer

    Interface
    Linearity 4 .5 2 1 4 .5 2
    Manufacturabilit 3.5 .5 1.75 .5 1.75 1 3.5
    y
    General 3 .5 1.5 .5 1.5 0 0
    Complexity
    Accuracy 5 .5 2.5 .5 2.5 .5 2.5
    User Friendly 4 .5 2 1 4 0 0
    Comfort 2 .5 1 .5 1 0 0
    Cost 2 .5 1 1 2 1 2
    Controllability 4 .5 2 .5 2 0 0
    Ease of 5 .5 2.5 1 5 0 0
    Implementation

    TOTAL 16.5 23.75 10


    RANKING 2 1 3
    Rotational Input Device

    /conversion/tmp/scratch/50648303.doc

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