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 Performance Evaluation of a Spherical Robot Assisted by High-Speed Rotating Flywheels for Self-Stabilization and Obstacle Surmounting

Abstract

In order to reinforce the operation stability and obstacle capability of a spherical robot, this paper presents a spherical robot with high-speed rotating flywheel, the mechanical structure of which is mainly composed of a spherical shell, a double pendulum on both sides and two high-speed flywheels. The robot has three excitation modes: level running, self-stability operating, and obstacle surmounting. The dynamic characteristics of the pendulum, flywheel, and brake of the robot are discussed through the establishment of kinematic and dynamic model of the spherical robot and the influence of parameters like weight, flywheel speed. and flywheel position on its dynamic characteristics and robot performance is optimized and analyzed in detail. The research results indicate that the two flywheels located in the center of the sphere apart can bring maximum stability gain to the sphere. Finally, the simulation and experiment of the stability gain brought by the high-speed flywheel to the sphere verify that the operation stability of the sphere is effectively improved after using the flywheel, and the robot that stops the flywheel through a brake fixed on the pendulum has better obstacle surmounting performance.
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