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.

Human Temporomandibular Joint Motion: A Synthesis Approach for Designing a Six-Bar Kinematic Simulator


The human earcanal can accommodate several types of in-ear devices including hearing aids, earphones, hearing protectors, and earplugs. This canal-type home has a neighbor called the temporomandibular joint (TMJ) whose movements slightly deform the shape of the earcanal. While these cyclic deformations can influence the positioning, comfort, and functioning of ear-fitted devices, they can also provide a significant amount of energy to harvest. Given their importance, the TMJ movements and earcanal deformations have been well studied. However, their mutual actions are still not fully understood. This paper presents the development of a six-bar kinematic TMJ simulator capable of replicating the complicated motion of the jaw. The development relies on a two-phase mechanism design algorithm to numerically optimize and analytically synthesize linkage mechanisms for which the classical optimization approaches cannot return a converged solution. The proposed algorithm enables the design of a kinematic simulator to generate the TMJ path with an average error as low as 1.65% while respecting all the hinge-axis parameters of the jaw. This algorithm can be subsequently used to solve nonlinear complex linkage synthesis problems, and ultimately, the developed kinematic simulator can be used to further investigate TMJ–earcanal interactions.
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