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.

Design and Development of a Tracked Robot to Increase Bulk Density of Flax Fibers


This article presents an integrated mechanics study for the design and the development of a service tracked robot able to move inside a truck container and roll over flax raw material by compressing it to increase its overall bulk density. A series of flax material properties have been used to properly characterize the robot’s locomotion parameters and to obtain an optimal ground pressure and a correct floating capacity over the material. First, the performance of the proposed robot is evaluated in an emulated container. Then, results acquired during compression tests in a real scenario are provided to demonstrate the effectiveness of the developed robot for industrial applications.
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