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 Control and Performance of a Cable-Driving Module With External Encoder and Force Sensor for Cable-Driven Parallel Robots


Cable-driven parallel robots (CDPRs) have the characteristic of easy deployment, which endows CDPRs with flexible workspace, freely configurable degrees-of-freedom (DOFs), and various configurations, greatly expanding their range of applications. Modular design provides excellent convenience and feasibility for deployment, which is a crucial issue of CDPR design. A highly integrated cable-driving module is designed in this paper, which includes the winding bobbin, servo motor, force sensor, external encoder, electromagnetic brake, as well as other devices. Experiments show that the maximum cable length control error is less than 0.16%, and the maximum cable tension control error is less than 8% in the back-and-forward rotation test. Furthermore, a CDPR with eight cables and six DOFs is constructed rapidly using the proposed module, whose dimension is 850 × 850 × 650 mm3. Results show that the robot’s trajectory errors are all less than 4.5 mm, and the root-mean-square-error (RMSE) is 2.1 mm. Besides, the compliance control experiments show that the robot’s tracking error in an impedance control mode is less than 2 mm, and the RMSE is 0.95 mm. Moreover, the dragging force in a teaching mode is less than 2.5 N. The proposed integrated cable-driving module could be helpful for the modular design and deployment of CDPRs.
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