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ASME International Mechanical Engineering Congress and Exposition (IMECE)

作者： Ovando, Ammy Papendorp, Sky Ashuri, Turaj Moghadam, Amir Ali Amiri Kennesaw State Univ Marietta GA 30060 USA

ISBN: (纸本)9780791887622

This paper reports on the development of novel hybrid soft cable-driven parallel robots (HSCP). As the growth and refinement of the soft robotic field progresses, new methods of soft robotic actuation and control will continue to be developed. While most of the existing soft robotic systems have a serial structure, soft parallel robots have received a lot of attention recently. This is due to the wide range of applications of these systems in different industries such as the medical and the food industry. To the best of our knowledge, most of the existing soft parallel robots have active flexible legs. However, in this work for the first time, we have proposed a novel soft parallel robot with only passive flexible legs. In our hybrid design the stiffness of the robot is maintained through the passive soft legs and the actuation is based on a cable-driven mechanism. This will simplify the design and modeling of the robot. As an example of our design approach, a 6 degrees of freedom (DOF) hybrid soft parallel robot is designed which resembles the rigid Stewart mechanism. The mechanics of the robot are unique, being controlled only through cable actuation through six servo motors positioned around the base of the robot. The supports which were 3D printed with deformable Ninja Flex filament supply a nonlinear force to the robot, combined with the cable control enabling the robot to be able to execute basic movement within the workspace as well as being safer for human-machine interaction due to the soft support system. This paper also compares the kinematics and controls of this new robotic system to a typical rigid steward robot.

关键词： Soft robot cable-driven robot parallel robot

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Composite error-based intelligent smooth sliding mode control of a dual parallel robot for automobile electro-coating conveying

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MEASUREMENT & CONTROL 2022年第9-10期55卷 1031-1042页

作者： Gao, Guoqin Zhong, Junwen Ye, Mengyang Jiangsu Univ Sch Elect & Informat Engn 301 Xuefu Rd Zhenjiang 212013 Jiangsu Peoples R China

Different coating technological requirements of automobile electro-coating control system have different desired trajectories. For a dual parallel robot used for automobile electro-coating conveying (DPRAEC), an intelligent tracking smooth sliding mode synchronization control method (ITSSMSC) is proposed to achieve better tracking control performance with high synchronization and flexibility for the system under different desired trajectories. According to the dual parallel and symmetrical structure of the robot, the sliding surface is designed based on a composite error. A deep neural network with multi-hidden layer is trained by deep learning algorithms. Then, any given trajectories caused by different coating technological requirements could be tracked without tuning additional parameters and the synchronous performance could be guaranteed. The convergence of the network training process and the stability of the ITSSMSC are proved theoretically. Compared with the synchronization proportion-derivative control, the sliding mode control based on constant velocity reaching law without synchronization control and the smooth sliding mode synchronization control without training, simulation and experimental results demonstrate the effectiveness of the proposed approach. Compared with synchronization proportion-derivative control, the maximum tracking errors of constant velocity reaching law without synchronization control among each active joint are, respectively, reduced 92.2%, 94.7%, 98.8%. The maximum tracking errors of smooth sliding mode synchronization control and ITSSMSC in z direction are, respectively, 9.06x10(-5)m and 1.01x10(-9)m. The maximum tracking errors of smooth sliding mode synchronization control and ITSSMSC in beta angle are, respectively, 4.50x10(-3)rad and 1.45x10(-4)rad. Therefore, the proposed control method could improve the tracking control performance and synchronization performance simultaneously under different desired trajectories.

关键词： parallel robot intelligent control synchronization control sliding mode control automobile electro-coating conveying

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Trajectory planning of 3-CRU parallel robot with linear kinematics equation

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PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE 2022年第17期236卷 9589-9609页

作者： Zhang, Tie Cao, Yachao Ma, Guangcai South China Univ Technol Sch Mech & Automot Engn Wushan Rd 381 Guangzhou 510641 Peoples R China

With advantages of linear kinematics equation, no singular pose, regular workspace, the best motion/force transmission performance, 3-CRU parallel robot is potential to perform better when rapid and repetitive grasping/handling in packaging and medicine industry. For this reason, this paper deals with trajectory planning of the 3-CRU parallel robot. The trajectory planning method of the 3-CRU parallel robot is proposed for the first time whose advantage is the robot can arbitrarily increase the interpolation period in the Cartesian space without a twice interpolation in the joint space. This method simplifies the interpolation process of trajectory planning, reduces the occupation of computational resources, improves the computational efficiency of the controller, and benefits the real-time online control. For the problem of residual vibration when the robot stops, the input shaping technology is adopted and time delay compensation strategy is proposed, which improves the positioning accuracy of the moving platform and ensures fixed running time. This paper lays a theoretical and practical foundation for the application of the 3-CRU parallel robot in the future.

关键词： Trajectory planning linear kinematics equation parallel robot finite impulse response filter input sharping

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Robust Optimization of the Delta parallel robot 20

Robust Optimization of the Delta Parallel Robot

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20th Latin American robotics Symposium (LARS) / 15th Brazilian Symposium on robotics (SBR) / 14th Workshop on robotics in Education (WRE)

作者： Lara-Molina, Fabian A. Lobato, Fran Sergio Univ Fed Triangulo Mineiro Dept Mech Engn Uberaba MG Brazil Univ Fed Uberlandia Sch Chem Engn Uberlandia MG Brazil

ISBN: (纸本)9798350315387

This paper addresses the robust optimization of the Delta parallel robot based on multi-objective optimization. The dimensional tolerances of the geometric parameters and their effect on the kinematic error are considered. The objective functions for the optimization are based on kinematic indices and the errors in the active joint. These indices are evaluated over a required workspace in the parallel manipulator's complete workspace. Moreover, the sensitivity of the dimensional tolerance on the kinematic accuracy is analyzed. The set of optimal solutions for the Delta robot to optimize the kinematic performance and minimize the effect of dimensional tolerance is obtained from the solutions of robust optimization.

关键词： Optimization parallel robot Uncertainties Sensitivity Performance Indices

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A Singularity-Free Approach for Safe Operation of a parallel robot for Lower Limb Rehabilitation 32nd

A Singularity-Free Approach for Safe Operation of a Parallel...

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31st International Conference on robotics in Alpe-Adria-Danube Region (RAAD)

作者： Tucan, Paul Gherman, Bogdan Pisla, Adrian Horsia, Alin Vaida, Calin Pisla, Doina Tech Univ Cluj Napoca CESTER Cluj Napoca 400114 Romania

ISBN: (纸本)9783031326080;9783031326066;9783031326059

This paper presents a singularity analysis of a parallel robot for lower limb rehabilitation with the scope of creating a safe environment for the patient and physical therapist during the rehabilitation procedure. The singularities are identified by analyzing the determinants of Jacobi matrices and avoidance solutions using mechanical constraints and control algorithm are proposed. The solutions are validated by performing two sets of experimental laboratory tests, one test was performed without any human subjects to check the functionality of safe operation mode and the second experimental test was performed using 5 healthy subjects to validate the functionality of the entire robotic system.

关键词： Singularity analysis parallel robot kinematics lower limb rehabilitation safe operation

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Series Elastic Actuators-Driven parallel robot With Wide-Range Impedance Realization for Balance Assessment and Training

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IEEE-ASME TRANSACTIONS ON MECHATRONICS 2022年第6期27卷 4619-4630页

作者： Lee, Hyunwook Oh, Sehoon Daegu Gyeongbuk Inst Sci & Technol DGIST Dept Robot Engn Daegu 42988 South Korea

In this article, a novel robotic device is proposed that can realize a large range of compliance and a force sufficient to achieve human-balance training. The proposed device is called a virtual ground robot (VGR) and consists of a 3-degree-of-freedom parallel mechanism, which is driven by three series elastic actuators (SEAs). The proposed VGR can produce a large force and impedance overcoming the limitation of SEA using properly designed parallel legs, 3-PRRS, which can also reduce the size of the VGR. As a result, the proposed VGR can achieve 2.38-times stiffness ellipsoid as a conventional 3-RPS parallel robot. It can also achieve significantly large compliance by exploiting the advantages of SEAs, which have not been realized using conventional motion platforms. The dynamics and kinematics of the VGR are investigated from the SEA space to the entire task space, based upon which, the spatial impedance control of the VGR is designed by utilizing the robust force control of the SEA. The VGR is utilized as a device for measuring and training the balance of a human;a person can stand on the VGR, and balance-related values such as force, position, and center of the pressure are observed and controlled by the robot. The features and performance of the developed robot were theoretically examined and validated experimentally.

关键词： Impedance control parallel robot series elastic actuator

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Dynamic Coupling Characteristic Analysis of a Loaded Stewart parallel robot 2

Dynamic Coupling Characteristic Analysis of a Loaded Stewart...

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2nd IEEE-Industrial-Electronics-Society Annual On-Line Conference (ONCON)

作者： He, Jin-Yin Song, Ya-Ru Xia, Xi-Yun Xie, Min Univ Elect Sci & Technol China Sch Mech & Elect Engn Chengdu Peoples R China

ISBN: (纸本)9798350357974

The Stewart parallel robot always works with load and the load will cause dynamic coupling among different degree-of-freedoms, which seriously affects the accuracy of the system. In order to improve the accuracy and suppress the dynamic coupling, it is necessary to analyze the coupling characteristics of system dynamics. Aiming at the problem of dynamic coupling, this paper firstly established a dynamic modeling of the Stewart parallel robot with load, and then the dynamical coupling characteristics among the six degrees under the influence of the load are analyzed theoretically, and the reasons of the dynamic coupling and the distribution of dynamic coupling among six degrees are determined. Finally, a simulation was carried out in Simulink. The simulation results show that the dynamic coupling of the system is mainly caused by the load, and there are three types of dynamic coupling, and the dynamic coupling will change as the robot posture changes. The simulation results agree well with the theoretical analysis. Therefore, the research result in this paper can be used for the design of dynamic decoupling control strategy and system parameter identification algorithm.

关键词： parallel robot Load Dynamic coupling Control accuracy

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Measurement Configuration Optimization and Kinematic Calibration of a parallel robot

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JOURNAL OF MECHANISMS AND robotICS-TRANSACTIONS OF THE ASME 2022年第3期14卷 031017页

作者： Huang, Chenhui Xie, Fugui Liu, Xin-Jun Meng, Qizhi Tsinghua Univ Dept Mech Engn DME State Key Lab Tribol Beijing 100084 Peoples R China Tsinghua Univ Beijing Key Lab Precis Ultraprecis Mfg Equipments Beijing 100084 Peoples R China

This 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.

关键词： parallel robot error modeling measurement configuration optimization searching algorithm calibration experiment

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Workspace optimization of parallel robot by using multi-objective genetic algorithm

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High Technology Letters 2022年第4期28卷 411-417页

作者： WANG Jinhong LEI Jingtao School of Mechatronic Engineering and Automation Shanghai UniversityShanghai 200444P.R.China Shanghai Key Laboratory of Intelligent Manufacturing and Robotics Shanghai 200444P.R.China

For the narrow workspace problem of the universal-prismatic-universal(UPU)parallel robotwith fixed orientation,a kind of multi-objective genetic algorithm is studied to optimize the robot’*** concept of the effective workspace and its solution method are *** effectiveworkspace height(EWH)and global condition number index(GCI)of Jacobi matrix are selected asthe optimized objective *** the robot in two different orientations,the geometric pa-rameters are optimized by the multi-objective genetic algorithm named non-dominated sorting geneticalgorithm II(NSGA-II),and a set of structural parameters is *** optimization results areverified by four indicators with the robot’s moving platform at different *** resultsshow that,after optimization,the fixed-orientation workspace volume,the effective workspace heightand the effective workspace volume increase by 32.4%,17.8%and 72.9%on average,*** decreases by 6.8%on average.

关键词： parallel robot multi-objective genetic algorithm workspace optimization

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An Online Normal Adjustment Method for a parallel robot Used in Drilling 24th

An Online Normal Adjustment Method for a Parallel Robot Used...

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24th IFToMM China International Conference on Mechanism and Machine Science and Engineering, IFToMM CCMMS 2024

作者： Sun, Bin Zhou, Peng Wang, Yunpeng Xie, Zenghui Xie, Fugui Liu, Xin-Jun Department of Mechanical Engineering (DME) Tsinghua University Beijing 100084 China State Key Laboratory of Tribology in Advanced Equipment Tsinghua University Beijing 100084 China AVIC Xi’an Aircraft Industry Group Company Ltd Shaanxi Xi’an 710089 China Beijing Spacecrafts China Academy of Space Technology Beijing 100081 China

ISBN: (纸本)9789819614639

Drilling quality is highly related to the fatigue strength of the aircraft components, and high-precision drilling is critical for aircraft. parallel robots feature superior position and orientation accuracy over serial robots, making them ideal choices for high-precision drilling. To guarantee the drilling flexibly and accuracy, a 5-DoF parallel robot that can achieve flexible translation in 3D space and orientation adjustment is adopted and three laser displacement sensors (LDSs) are installed at the end of the parallel robot to measure the workpiece’s normal. However, the parallel robot’s parasitic motion poses challenges to sensor mounting position calibration. To address this issue, the traditional calibration method with fixed calibration plate and moving robot is modified to fixed robot and moving the calibration plate. Then, the randomized random sample consensus (R-RANSAC) algorithm is employed to derive accurate mounting positions of LDSs. In this way, the light point and the path vector can be derived in the drilling process, and the workpiece’s normal measurement is achieved online. Normal measurement experimental results show that the average measuring error is 0.167° after calibration. Finally, drilling experiments on an aluminum alloy plate are also conducted, and the experimental results show an average hole’s perpendicularity of 0.306° which meet the accuracy requirement of 0.5°. This illustrates the validity of the proposed sensor mounting position calibration and online normal adjustment method. © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2025.

关键词： Aircraft drilling Laser displacement sensor (LDS) Online normal adjustment parallel robot Random sample consensus (RANSAC)

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