Latest Papers

ASME Journal of Mechanisms and Robotics

  • Dynamics of Mobile Manipulators Using Dual Quaternion Algebra
    on September 14, 2022 at 12:00 am

    AbstractThis article presents two approaches to obtain the dynamical equations of mobile manipulators using dual quaternion algebra. The first one is based on a general recursive Newton–Euler formulation and uses twists and wrenches, which are propagated through high-level algebraic operations and works for any type of joints and arbitrary parameterizations. The second approach is based on Gauss’s Principle of Least Constraint (GPLC) and includes arbitrary equality constraints. In addition to showing the connections of GPLC with Gibbs–Appell and Kane’s equations, we use it to model a nonholonomic mobile manipulator. Our current formulations are more general than their counterparts in the state of the art, although GPLC is more computationally expensive, and simulation results show that they are as accurate as the classic recursive Newton–Euler algorithm.

Kinematic Uncertainty Analysis of a Cable-Driven Parallel Robot Based on an Error Transfer Model


Cable-driven parallel robots (CDPRs) are a kind of mechanism with large workspace, fast response, and low inertia. However, due to the existence of various sources of error, it is unavoidable to bring uncertain cable lengths and lead to pose errors of the end-effector. The inverse kinematic model of a CDPR for picking up medicines is established by considering radii of fixed pulleys. The influence of radii of fixed pulleys on errors of cable lengths is explored. Error transfer model of the CDPR is constructed, and uncertain sources of cable lengths are analyzed. Based on evidence theory and error transfer model, an evidence theory-based uncertainty analysis method (ETUAM) is presented. The structural performance function for kinematic response is derived based on the error transfer model. Belief and plausibility measures of joint focal elements under the given threshold are obtained. Kinematic error simulations show that errors of cable lengths become larger with the increase of radii of fixed pulleys. Compared with the vertex method and Monte Carlo method, numerical examples demonstrate the accuracy and efficiency of the ETUAM when it comes to the kinematic uncertainty analysis of the CDPR.

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