Attaining multidimensional movements, such as cruising, diving, and turning, is a crucial challenge in the development of bionic robotic fish. When only focusing on caudal fin movements, the caudal fin of a tuna generates significant lateral and propulsive forces and weak lift, while in contrast, the caudal fin of a dolphin generates significant lift and propulsive forces and weak lateral forces. The paper introduces a novel caudal fin oscillation mode for the hemispherical space, which extends the caudal fin oscillation features observed in tuna and dolphin to a broader range of organisms. Firstly, we presented the concept of hemispherical space caudal fin oscillation mode, and demonstrated the principle of lift distribution through theoretical calculations. Moreover, we detailed the force distribution obtained by the robotic fish under different caudal fin oscillation modes through numerical simulations. Finally, we experimentally validated the feasibility of the hemispherical space caudal fin oscillation mode. The results indicate that by modifying the oscillation mode of the caudal fin in bionic robotic fish, it is possible to distribute the lift generated by the fin movement to various forces that aid in achieving multidimensional movement, including propulsive, lateral, and lift forces.
{"title":"Numerical and Experimental Study on Caudal Fin Oscillation Mode in Hemispherical Space","authors":"Shuyan Wang, Yunqi Han, Zhiming Wu, Zhiliang Huang","doi":"10.1115/1.4062862","DOIUrl":"https://doi.org/10.1115/1.4062862","url":null,"abstract":"\u0000 Attaining multidimensional movements, such as cruising, diving, and turning, is a crucial challenge in the development of bionic robotic fish. When only focusing on caudal fin movements, the caudal fin of a tuna generates significant lateral and propulsive forces and weak lift, while in contrast, the caudal fin of a dolphin generates significant lift and propulsive forces and weak lateral forces. The paper introduces a novel caudal fin oscillation mode for the hemispherical space, which extends the caudal fin oscillation features observed in tuna and dolphin to a broader range of organisms. Firstly, we presented the concept of hemispherical space caudal fin oscillation mode, and demonstrated the principle of lift distribution through theoretical calculations. Moreover, we detailed the force distribution obtained by the robotic fish under different caudal fin oscillation modes through numerical simulations. Finally, we experimentally validated the feasibility of the hemispherical space caudal fin oscillation mode. The results indicate that by modifying the oscillation mode of the caudal fin in bionic robotic fish, it is possible to distribute the lift generated by the fin movement to various forces that aid in achieving multidimensional movement, including propulsive, lateral, and lift forces.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2023-06-28","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47815108","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract The foot sole of the biped robot is an important factor for stable walking. In this study, the limitations of existing bipedal robot soles are introduced and the necessity for the development of a new sole mechanism is presented. Inspired by a robot sole based on the granular jamming effect, we have developed a variable stiffness sole (VSS), which adapts to the shape of obstacles on the ground in compliant mode and provides robust support in stiff mode. Finally, the performance of the VSS is verified by several experiments integrating the VSS with the real humanoid robot platform RoK-3. The experimental results verified that the VSS is advantageous in uneven terrain walking.
{"title":"A Variable Stiffness Sole for Biped Robot and Its Experimental Verification","authors":"Junyeon Namgung, Yun-Ho Han, Baek-Kyu Cho","doi":"10.1115/1.4062650","DOIUrl":"https://doi.org/10.1115/1.4062650","url":null,"abstract":"Abstract The foot sole of the biped robot is an important factor for stable walking. In this study, the limitations of existing bipedal robot soles are introduced and the necessity for the development of a new sole mechanism is presented. Inspired by a robot sole based on the granular jamming effect, we have developed a variable stiffness sole (VSS), which adapts to the shape of obstacles on the ground in compliant mode and provides robust support in stiff mode. Finally, the performance of the VSS is verified by several experiments integrating the VSS with the real humanoid robot platform RoK-3. The experimental results verified that the VSS is advantageous in uneven terrain walking.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135555949","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract This article presents a hybrid robot for machining the inner cavity of large-scale workpiece, and it is composed of three parts: a mobile device with 1T degree-of-freedom (DoF), a serial module with 1R1T DoFs, and a 2RRU-RRS parallel kinematic mechanism (PKM) with 2R1T DoFs. The 2RRU-RRS PKM has some advantages with a folding structure, only one S joint, two certain rotational axes, and all the fixed actuators. In this article, the conceptual design, theoretical kinematic and dynamic modeling, performance evaluation, and optimization of the parallel system are investigated. A 3D printing model is built to demonstrate the application potential. This article plays an exemplary role in the design of inner-cavity machining hybrid robots.
{"title":"Design of a 2RRU-RRS Parallel Kinematic Mechanism for an Inner-Cavity Machining Hybrid Robot","authors":"Lingmin Xu, Xinxue Chai, Ye Ding","doi":"10.1115/1.4062649","DOIUrl":"https://doi.org/10.1115/1.4062649","url":null,"abstract":"Abstract This article presents a hybrid robot for machining the inner cavity of large-scale workpiece, and it is composed of three parts: a mobile device with 1T degree-of-freedom (DoF), a serial module with 1R1T DoFs, and a 2RRU-RRS parallel kinematic mechanism (PKM) with 2R1T DoFs. The 2RRU-RRS PKM has some advantages with a folding structure, only one S joint, two certain rotational axes, and all the fixed actuators. In this article, the conceptual design, theoretical kinematic and dynamic modeling, performance evaluation, and optimization of the parallel system are investigated. A 3D printing model is built to demonstrate the application potential. This article plays an exemplary role in the design of inner-cavity machining hybrid robots.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135555951","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract Soft grippers show adaptability and flexibility in grasping irregularly shaped and fragile objects. However, the low loading capacity and less deformation limit the soft gripper for developing large-scale applications. To overcome these limitations, we propose a new concept of a soft actuator with engineered smart particles. The proposed soft actuator is a dual-chamber programmable structure made from an elastic membrane filled with different particles, which can be driven by expanding particle volume or flexible membrane shrinking. Compared to traditional pneumatic or particle-jamming actuators, we use a combination of granular materials and smart materials, which delivers better active performances of large-scale deformation and variable stiffness. The coupled numerical model of the discrete element method and the finite element method is used to demonstrate the concept. The results indicated that the proposed soft gripper achieves the functionality of large deformation by a shrinking membrane or expanding particles. By controlling different design parameters, the actuator bends up to 138 deg, and the stiffness is up to a maximum of nine times of the pneumatic actuator. Additionally, the bending angle and deflections of the gripper actuator first increase and then drop down with increasing particle diameter ratio, actuator length, and elastic modulus of membrane material. Hence, the choice of different parameters must be in a specific range to achieve the required deformation. In conclusion, the soft-grasping gripper actuator can realize large bending deformation and shows potential for developing soft grippers in multi-scale physical scenarios.
{"title":"Conceptual Design of a Novel Particle-Based Soft Grasping Gripper","authors":"Qianyi Chen, Dingena L. Schott, Jovana Jovanova","doi":"10.1115/1.4062647","DOIUrl":"https://doi.org/10.1115/1.4062647","url":null,"abstract":"Abstract Soft grippers show adaptability and flexibility in grasping irregularly shaped and fragile objects. However, the low loading capacity and less deformation limit the soft gripper for developing large-scale applications. To overcome these limitations, we propose a new concept of a soft actuator with engineered smart particles. The proposed soft actuator is a dual-chamber programmable structure made from an elastic membrane filled with different particles, which can be driven by expanding particle volume or flexible membrane shrinking. Compared to traditional pneumatic or particle-jamming actuators, we use a combination of granular materials and smart materials, which delivers better active performances of large-scale deformation and variable stiffness. The coupled numerical model of the discrete element method and the finite element method is used to demonstrate the concept. The results indicated that the proposed soft gripper achieves the functionality of large deformation by a shrinking membrane or expanding particles. By controlling different design parameters, the actuator bends up to 138 deg, and the stiffness is up to a maximum of nine times of the pneumatic actuator. Additionally, the bending angle and deflections of the gripper actuator first increase and then drop down with increasing particle diameter ratio, actuator length, and elastic modulus of membrane material. Hence, the choice of different parameters must be in a specific range to achieve the required deformation. In conclusion, the soft-grasping gripper actuator can realize large bending deformation and shows potential for developing soft grippers in multi-scale physical scenarios.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135555950","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Researchers have proposed to allow collisions of cables with the base, the end-effector, or obstacles to expand the workspace of Cable-Driven Parallel Robots (CDPRs) in recent years. However, allowing collisions also leads to new challenges in kinematics and dynamics modeling for CDPRs. To this end, this paper focuses on a planar fully-constrained n-Degree-of-Freedom (DOF) CDPR driven by n + 1 cables allowing collisions and develops a data-driven dynamics modeling strategy. The data-driven dynamics modeling strategy can address the collisions and optimal tension distribution issues simultaneously. Based on the data-driven dynamics modeling strategy, this paper proposes a data-driven dynamics-based control strategy for the planar CDPR allowing collisions. A planar two-DOF CDPR prototype driven by three cables is established to evaluate the data-driven dynamics modeling strategy and data-driven dynamics-based control strategy.
{"title":"Data-Driven Dynamics Modeling and Control Strategy for a Planar n-DOF Cable-Driven Parallel Robot Driven by n+1 Cables Allowing Collisions","authors":"Genyuan Xu, Haoda Zhu, Hao Xiong, Y. Lou","doi":"10.1115/1.4062792","DOIUrl":"https://doi.org/10.1115/1.4062792","url":null,"abstract":"\u0000 Researchers have proposed to allow collisions of cables with the base, the end-effector, or obstacles to expand the workspace of Cable-Driven Parallel Robots (CDPRs) in recent years. However, allowing collisions also leads to new challenges in kinematics and dynamics modeling for CDPRs. To this end, this paper focuses on a planar fully-constrained n-Degree-of-Freedom (DOF) CDPR driven by n + 1 cables allowing collisions and develops a data-driven dynamics modeling strategy. The data-driven dynamics modeling strategy can address the collisions and optimal tension distribution issues simultaneously. Based on the data-driven dynamics modeling strategy, this paper proposes a data-driven dynamics-based control strategy for the planar CDPR allowing collisions. A planar two-DOF CDPR prototype driven by three cables is established to evaluate the data-driven dynamics modeling strategy and data-driven dynamics-based control strategy.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2023-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47393504","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Xuewen Wang, Yang Yu, Yang Jinhe, Zhengxiao Xu, Haipeng Liu
In order to improve the operational accuracy of microsurgical instruments and increase the success rate of surgery, this paper carries out the design and analysis of six-degree-of-freedom (6-DOF) microsurgical instruments based on rigid-flexible coupling multi-body system. Firstly, the kinematic modeling method of the 6-DOF parallel mechanism with flexible hinges is improved based on the pseudo-rigid body theory in this paper. Secondly, a rigid-flexible coupling simulation system is built to analyze the error sources in terms of the remote center of motion (RCM), preload and side load. Then, the function of motion scaling, the accuracy of kinematic modeling and the validity of the workspace are demonstrated by analyzing the workspace. Finally, the maximum stress and modal analysis are solved to ensure the safety and reliability of the application. The analysis results show that the improved kinematic modeling method improves the positioning accuracy by more than two times, the root mean square error (RSME) at the end of the microsurgical instrument does not exceed 10μm in the workspace. And the microsurgical instrument can withstand a side load of 0.1 N at the RCM. This study will provide a reference for the structural design and control algorithm optimization of the 6-DOF parallel microsurgical instruments.
{"title":"Design and Analysis of a 6-DOF Microsurgical Instruments Based on Rigid-flexible Coupling Multi-body System","authors":"Xuewen Wang, Yang Yu, Yang Jinhe, Zhengxiao Xu, Haipeng Liu","doi":"10.1115/1.4062791","DOIUrl":"https://doi.org/10.1115/1.4062791","url":null,"abstract":"\u0000 In order to improve the operational accuracy of microsurgical instruments and increase the success rate of surgery, this paper carries out the design and analysis of six-degree-of-freedom (6-DOF) microsurgical instruments based on rigid-flexible coupling multi-body system. Firstly, the kinematic modeling method of the 6-DOF parallel mechanism with flexible hinges is improved based on the pseudo-rigid body theory in this paper. Secondly, a rigid-flexible coupling simulation system is built to analyze the error sources in terms of the remote center of motion (RCM), preload and side load. Then, the function of motion scaling, the accuracy of kinematic modeling and the validity of the workspace are demonstrated by analyzing the workspace. Finally, the maximum stress and modal analysis are solved to ensure the safety and reliability of the application. The analysis results show that the improved kinematic modeling method improves the positioning accuracy by more than two times, the root mean square error (RSME) at the end of the microsurgical instrument does not exceed 10μm in the workspace. And the microsurgical instrument can withstand a side load of 0.1 N at the RCM. This study will provide a reference for the structural design and control algorithm optimization of the 6-DOF parallel microsurgical instruments.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2023-06-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"43867988","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Minimally invasive procedures employ continuum manipulators, however internal human anatomy presents challenges relating to size, dexterity, and workspace for these manipulators. This manuscript presents modeling, kinematic analysis, prototyping, and characterization of a micro-robotic manipulator for transurethral palpation of bladder tissue. The proposed micro-robot consists of two subsystems: a tendon-driven continuum segment with an elastic tube encompassing each joint for compliance and structural integrity, and a hyper-spherical joint ensuring higher dexterity and manipulability with a comprehensive actuation and modeling approach. The forward kinematics follow the Denavit-Hartenberg formulation. A developed differential Jacobian inverse kinematics formulation prevents motion singularities for desired poses while operating in the confined space. The simulated kinematic results confirm the dexterity and reach of the proposed micro-robot. A strain energy quasi-static model is developed for a single continuum module. The model is evaluated for tension-bend angle relationships as function of tube material and geometry, and joint length. Limited functionality continuum modules (4mm outside diameter) with four different joint lengths, (3, 6, 9, 12) mm, are prototyped for tension-bend angle characterization using a computer vision outfitted experimental setup. An equivalent shear modulus relationship for the elastic tube for selected joint length values and bend angles is developed using experimental results. The tension-bend angle response is nonlinear and function of tube properties, joint geometry, and their interactions. The comparison of the experimental and quasi-static model results shows high fidelity for use in predicting the robot continuum segment behavior.
{"title":"A Compliant Manipulator for Confined Space Tissue Diagnostics: Kinematic and Force Analyses and Initial Characterization Experiments","authors":"Samson A. Adejokun, P. Shiakolas","doi":"10.1115/1.4062762","DOIUrl":"https://doi.org/10.1115/1.4062762","url":null,"abstract":"\u0000 Minimally invasive procedures employ continuum manipulators, however internal human anatomy presents challenges relating to size, dexterity, and workspace for these manipulators. This manuscript presents modeling, kinematic analysis, prototyping, and characterization of a micro-robotic manipulator for transurethral palpation of bladder tissue. The proposed micro-robot consists of two subsystems: a tendon-driven continuum segment with an elastic tube encompassing each joint for compliance and structural integrity, and a hyper-spherical joint ensuring higher dexterity and manipulability with a comprehensive actuation and modeling approach. The forward kinematics follow the Denavit-Hartenberg formulation. A developed differential Jacobian inverse kinematics formulation prevents motion singularities for desired poses while operating in the confined space. The simulated kinematic results confirm the dexterity and reach of the proposed micro-robot. A strain energy quasi-static model is developed for a single continuum module. The model is evaluated for tension-bend angle relationships as function of tube material and geometry, and joint length. Limited functionality continuum modules (4mm outside diameter) with four different joint lengths, (3, 6, 9, 12) mm, are prototyped for tension-bend angle characterization using a computer vision outfitted experimental setup. An equivalent shear modulus relationship for the elastic tube for selected joint length values and bend angles is developed using experimental results. The tension-bend angle response is nonlinear and function of tube properties, joint geometry, and their interactions. The comparison of the experimental and quasi-static model results shows high fidelity for use in predicting the robot continuum segment behavior.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2023-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"48128222","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Lengxue Li, Sunhong Kim, Junho Park, Young-Min Choi, Qiang Lu, D. Peng
The acknowledgment in the publication is incorrect. The correct acknowledgment is given as follows: Acknowledgment This work was supported in part by the National Research Foundation of Korea under Grant No. 2019R1A2C1088375, in part by the Technology Innovation Program funded by the Korean Government (MOTIE) under Grant No. 20008908, and in part by the National Natural Science Foundation of China under Grant No. 62073108.
{"title":"Erratum: “Robotic Tensegrity Structure with a Mechanism Mimicking Human Shoulder Motion” [ASME J. Mech. Rob. 14(2), p. 025001; DOI: 10.1115/1.4052124]","authors":"Lengxue Li, Sunhong Kim, Junho Park, Young-Min Choi, Qiang Lu, D. Peng","doi":"10.1115/1.4062763","DOIUrl":"https://doi.org/10.1115/1.4062763","url":null,"abstract":"\u0000 The acknowledgment in the publication is incorrect. The correct acknowledgment is given as follows: Acknowledgment This work was supported in part by the National Research Foundation of Korea under Grant No. 2019R1A2C1088375, in part by the Technology Innovation Program funded by the Korean Government (MOTIE) under Grant No. 20008908, and in part by the National Natural Science Foundation of China under Grant No. 62073108.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2023-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"47718397","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Yuzhou Duan, Jie Ling, Zhao Feng, Daojin Yao, Yuchuan Zhu
Owing to the advantages of safety and reproducibility, remote center of motion (RCM) mechanisms are adopted in lumbar puncture (LP) procedures to guide the insertion angle and depth. However, the proximal-actuated pattern in existing RCM mechanisms occupies large space near the end effector, which obstructs the visual field and increases the system inertia. In this work, a base-actuated three-rhombus configured RCM mechanism for the LP operation is firstly proposed, where the symmetric three-rhombus scheme is designed for the motion transmission. As a result, the rotational and translational motions of the mechanism are respectively realized through the homodromous and heterodromous actuations of the two base-mounted motors. Kinematic models are established to analyze the manipulability, singularity, and workspace of the RCM mechanism theoretically. Parameter optimization procedure is provided to minimize the footprint of the RCM mechanism. Experimental results show that the mechanism reaches an insertion angle from −29.2° to 29.2°, a maximum insertion depth of 60.02 mm, and a footprint of 4.98 × 104 mm2. The maximum error of the RCM point is 1.1 mm.
{"title":"Development of a Base-Actuated Three-Rhombus Configured Remote Center Of Motion Mechanism for Lumbar Puncture","authors":"Yuzhou Duan, Jie Ling, Zhao Feng, Daojin Yao, Yuchuan Zhu","doi":"10.1115/1.4062761","DOIUrl":"https://doi.org/10.1115/1.4062761","url":null,"abstract":"\u0000 Owing to the advantages of safety and reproducibility, remote center of motion (RCM) mechanisms are adopted in lumbar puncture (LP) procedures to guide the insertion angle and depth. However, the proximal-actuated pattern in existing RCM mechanisms occupies large space near the end effector, which obstructs the visual field and increases the system inertia. In this work, a base-actuated three-rhombus configured RCM mechanism for the LP operation is firstly proposed, where the symmetric three-rhombus scheme is designed for the motion transmission. As a result, the rotational and translational motions of the mechanism are respectively realized through the homodromous and heterodromous actuations of the two base-mounted motors. Kinematic models are established to analyze the manipulability, singularity, and workspace of the RCM mechanism theoretically. Parameter optimization procedure is provided to minimize the footprint of the RCM mechanism. Experimental results show that the mechanism reaches an insertion angle from −29.2° to 29.2°, a maximum insertion depth of 60.02 mm, and a footprint of 4.98 × 104 mm2. The maximum error of the RCM point is 1.1 mm.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":2.6,"publicationDate":"2023-06-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"45960715","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Abstract To improve the motion accuracy of an XYZ-3RPS hybrid kinematic machine (HKM), a geometric error calibration method via binocular vision measurement is studied. First, to separately calibrate the series kinematic mechanisms (SKMs) and parallel kinematic mechanisms (PKMs), the geometric error identification equations (GEIEs) of the XYZ SKM and 3RPS PKM are derived, respectively. By analyzing the different influence principles of the geometric errors on the position and attitude of the 3RPS PKM, a constraint function is added to the GEIE of the PKM to improve the calculation accuracy. Moreover, the geometric error compensation strategy is based on the structural characteristics of the XYZ-3RPS HKM. In addition, based on the principle of binocular vision measurement, two calibration plates, called dynamic and static calibration plates, are designed as markers to define the coordinate systems, enabling the acquisition of full positions and attitudes. Furthermore, a marker transformation method and an in-situ adjustment method are designed to determine the positions and attitudes of the HKM required for calibration such that the marker is always at the center of the field of view of the camera to improve measurement accuracy. Finally, the effectiveness of the calibration method is verified through prototype experiments.
{"title":"Geometric Error Calibration of <i>XYZ</i>-3RPS Hybrid Kinematic Machine via Binocular Vision","authors":"Xiangyu Guo, Rui Wang, Shisheng Zhong, Yuhao Ge, Lingyu Yue","doi":"10.1115/1.4062465","DOIUrl":"https://doi.org/10.1115/1.4062465","url":null,"abstract":"Abstract To improve the motion accuracy of an XYZ-3RPS hybrid kinematic machine (HKM), a geometric error calibration method via binocular vision measurement is studied. First, to separately calibrate the series kinematic mechanisms (SKMs) and parallel kinematic mechanisms (PKMs), the geometric error identification equations (GEIEs) of the XYZ SKM and 3RPS PKM are derived, respectively. By analyzing the different influence principles of the geometric errors on the position and attitude of the 3RPS PKM, a constraint function is added to the GEIE of the PKM to improve the calculation accuracy. Moreover, the geometric error compensation strategy is based on the structural characteristics of the XYZ-3RPS HKM. In addition, based on the principle of binocular vision measurement, two calibration plates, called dynamic and static calibration plates, are designed as markers to define the coordinate systems, enabling the acquisition of full positions and attitudes. Furthermore, a marker transformation method and an in-situ adjustment method are designed to determine the positions and attitudes of the HKM required for calibration such that the marker is always at the center of the field of view of the camera to improve measurement accuracy. Finally, the effectiveness of the calibration method is verified through prototype experiments.","PeriodicalId":49155,"journal":{"name":"Journal of Mechanisms and Robotics-Transactions of the Asme","volume":null,"pages":null},"PeriodicalIF":0.0,"publicationDate":"2023-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"135657269","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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