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, Dynamic Analysis, and Experimental Evaluation of a Hybrid Parallel–Serial Polishing Machine With Decoupled Motions


In this paper, a novel six degrees-of-freedom (DOF) hybrid kinematic machine (HKM) is designed, analyzed, and evaluated for precision polishing. The design adopts a 3-DOF tripod-based parallel mechanism (PM) to locate the workpiece, a 2-DOF serial mechanism (SM) to orient the polishing tool, and a functional extension limb to provide a redundant DOF when polishing the workpieces with axially symmetrical shapes. Compared with the existing HKMs, the most distinctive feature is that the position and orientation adjustments of the tool with respect to the workpiece are decoupled during the synchronous machining, thus allowing the rotational tool center point (RTCP) function to be conveniently realized. For the developed HKM, the kinematics are studied systematically, including position, velocity, acceleration, and workspace. The dynamic model of the PM is derived by employing the principle of virtual work. For a pre-defined trajectory, the required driving forces are obtained through dynamic simulation. Based on these analyses, a laboratory prototype of the HKM is designed and developed. A preliminary accuracy assessment of the HKM is implemented with a double ball-bar, and a series of polishing experiments are conducted to show the capacity and feasibility of the developed HKM.
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