Latest Papers

ASME Journal of Mechanisms and Robotics

  • Measurement Configuration Optimization and Kinematic Calibration of a Parallel Robot
    by Huang C, Xie F, Liu X, et al. on December 10, 2021 at 12:00 am

    AbstractThis paper presents the kinematic calibration of a four-degrees-of-freedom (4DOF) high-speed parallel robot. In order to improve the calibration effect by decreasing the influence of the unobservable disturbance variables introduced by error measurement, a measurement configuration optimization method is proposed. Configurations are iteratively selected inside the workspace by a searching algorithm, then the selection results are evaluated through an index associated with the condition number of the identification Jacobian matrix; finally, the number of optimized configurations is determined. Since the selection algorithm has been shown to be sensitive to local minima, a meta-heuristic method has been applied to decrease this sensibility. To verify the effectiveness of the algorithm and kinematic calibration, computation validations, pose error estimations, and experiments are performed. The results show that the identification accuracy and calibration effect can be significantly improved by using the optimized configurations.

Development of a Multi-Cable-Driven Continuum Robot Controlled by Parallel Platforms


Cable-driven continuum robots exhibit excellent capabilities in the unstructured environment due to their inherent compliance and dexterity. To improve the reliability and load capacity of continuum robots, increasing the number of cables is often used in the control of continuum robots. However, the number of actuators will increase with the cables. To tackle this challenge, this work proposes a method for increasing the number of cables without increasing actuators in a continuum robot through parallel platforms. The parallel platforms are used to control all the cables in the continuum robot and can be separated from the continuum robot to enable the remote drive of a manipulation arm by using the cable-tube structure. The manipulation arm is composed of several independent bending modules in series, which can be configured freely according to the demand of degrees-of-freedom. Further, each bending module is controlled independently by a parallel platform, which can avoid the mutual interference between the cables of one bending module and another one, improve the position accuracy and simplify the control difficulty of the manipulation arm. To evaluate the proposed method, this work develops a prototype of six-cable-driven continuum robot controlled by 3RPS parallel platforms and presents some basic kinematic models to describe its function, and then an experimental work characterizing its performance. Experimental results illustrated the importance of increasing the number of cables, the rationality of kinematic models of the continuum robot, and the feasibility of controlling multiple cables by a parallel platform.
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