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.

Kinetostatic Modeling of Planar Compliant Mechanisms With Flexible Beams, Linear Sliders, Multinary Rigid Links, and Multiple Loops


This paper presents kinetostatic models of planar compliant mechanisms with multinary rigid links, multinary joints, sliders, and multiple loops based on the chained beam constraint model. The focus is on modeling of several building blocks of the beam type compliant mechanisms to aid in their design. The modeling approaches are based on the loop-closure equations and the static equilibrium conditions. Models of the multinary rigid links, multinary joints, and sliders are presented. As a result, the kinetostatic models of the compliant mechanisms can be systematically formulated by using these building blocks. Several mechanisms constructed by the building blocks are modeled and verified by finite element analyses. A case study is provided to demonstrate the application of the developed models. These models pave the way for versatile applications of the chained beam constraint model for the design and analysis of beam type planar compliant mechanisms.
Read More
Journal of Mechanisms and Robotics Open Issues