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.

Comparison of Under-Actuated and Fully Actuated Serial Robotic Arms: A Case Study


Under-actuated robots are very interesting in terms of cost and weight since they can result in a state-controllable system with a number of actuators lower than the number of joints. In this paper, a comparison between an under-actuated planar three-degrees-of-freedom (DOF) robot and a comparable fully actuated two-degrees-of-freedom robot is presented, mainly focusing on the performances in terms of trajectories, actuator torques, and vibrations. The under-actuated system is composed of two active rotational joints followed by a passive rotational joint equipped with a torsional spring. The fully actuated robot is inertial equivalent to the under-actuated manipulator: the last link is equal to the sum of the last two links of the under-actuated system. Due to the conditions on the inertia distribution and spring placement, in a simple point-to-point movement the last passive joint starts and ends in a zero-value configuration, so the three DOF robot is equivalent, in terms of initial and final configuration, to the two DOF fully actuated robot, thus they can be compared. Results show how while the fully actuated robot is better in terms of reliable trajectory and actuator torques, the under-actuated robot wins in flexibility and in vibrations at a given configuration.

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