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 Evaluation of a Parallel Cable-Driven Shoulder Mechanism With Series Springs


Upper limb paralysis and movement disorders resulting from neurologic injuries can be treated with an upper limb exoskeleton robot that assists with movement retraining. Cable-driven exoskeletons have been widely studied because of their lightness, compact structure, and low cost. However, the problems of shoulder squeeze force and system stability have not been solved. In this article, we present a prototype parallel cable-driven shoulder mechanism with series springs. The theoretical analysis suggests that the stability of the mechanism is improved compared with that of the previous mechanism, and the effects of stiffness, upper limb weight, and mechanism parameters on the shoulder joint extrusion pressure are analyzed by simulation and experimental results. The results show that this mechanism plays an important role in reducing or eliminating the shoulder squeeze pressure and improving the stability of the mechanism. Moreover, the mechanism has good portability and can be combined with other exoskeletons to facilitate various robot-assisted upper limb rehabilitation training.

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