Article
Engineering, Electrical & Electronic
Zhiyuan He, Yimin Song, Binbin Lian, Tao Sun
Summary: Parallel manipulators have more kinematic errors than serial mechanisms. A finite and instantaneous screw-based kinematic calibration method is proposed to improve the accuracy of parallel manipulators. This method reduces the number of measurements required for calibration and increases the efficiency and accuracy of the calibration process.
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
(2023)
Article
Computer Science, Information Systems
Ming Bai, Minglu Zhang, He Zhang, Linjun Pang, Jie Zhao, Chunyan Gao
Summary: This research presents a method to improve the kinematic accuracy of surgical robots, which simultaneously reduces the positioning error of the end-effector and the deviation of the RCM point through a forward and inverse kinematics solution.
Article
Engineering, Electrical & Electronic
Jie Xue, Zurong Qiu, Lin Fang, Yaohuan Lu, Wenchuan Hu
Summary: The article introduces the design of an angular measurement system based on a vertical instrument, using methods such as angular displacement and regular deformation patterns to improve measurement accuracy. It calibrates absolute circular gratings in the instrument and ultimately achieves accurate angle measurement of the tested reducer.
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
(2021)
Article
Computer Science, Information Systems
Hongyu Wan, Silu Chen, Yisha Liu, Chi Zhang, Chaochao Jin, Jin Wang, Guilin Yang
Summary: In this paper, a generalized semi-analytical beam deformation model is proposed to compensate non-geometric errors in long-stroke Cartesian robots. Adjustment factors are introduced to handle over-constrained boundary conditions, improving the accuracy of the geometric error model. Additionally, a Gaussian process regression model is used to predict residual errors more accurately, forming comprehensive error modeling and compensation procedures for the robot.
Article
Engineering, Multidisciplinary
Wenjie Tian, Mingshuai Huo, Xiangpeng Zhang, Yongbin Song, Lina Wang
Summary: A general error modelling, measurement, and compensation approach for robot calibration is proposed based on the equivalent joint motion error model from the perspective of vector space. The method can reduce the pose error and position error of the robot through offline identification and online compensation.
Article
Engineering, Multidisciplinary
Xiao Wang, Kuanyong Zhou, Jianning Yang, Hanwen Song
Summary: Accurate estimation of robot-world and hand-eye transformations is crucial for robotic vision system. This study proposes a method using motion tensor for calibration, and provides analytical and numerical solutions. The results demonstrate its superiority in uncalibrated robot.
Article
Automation & Control Systems
Hongdong Cong, Jun Zha, Yaolong Chen
Summary: In this paper, a novel compensation method based on a new representation of the volumetric error is proposed to improve the machining accuracy of five-axis machine tools. This method simplifies the actual reverse kinematics by using 5 error parameters in the workpiece-tool coordinate system and considers the position-varying feature of geometric errors. Compared with traditional compensation methods, this method has higher efficiency and a concise analytical expression.
INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY
(2023)
Article
Engineering, Mechanical
Haitao Liu, Zhibiao Yan, Juliang Xiao
Summary: The proposed calibration method for a 5-DOF hybrid robot effectively addresses the contradiction between measurement efficiency and calibration accuracy while achieving real-time compensation with high precision. By establishing an error prediction model and designing an embedded joint error compensator based on BPNN, the maximum position/orientation errors in the robot's entire workspace can be significantly reduced.
MECHANISM AND MACHINE THEORY
(2022)
Article
Automation & Control Systems
Weishu Song, Peiqing Ye, Hui Zhang, Bingran Li
Summary: A study was conducted on a fast compensation method for five-axis machine tools, which aims to improve accuracy and efficiency by optimizing error parameters. Experimental results show that this method significantly improves compensation accuracy and efficiency.
INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY
(2022)
Article
Robotics
Andrej Cibicik, Olav Egeland
Summary: This article introduces a new procedure for deriving the linearized kinematics and dynamics of a flexible industrial robotic manipulator, using concepts such as Lie groups and dual screws, and based on Kane's method and assumed mode method, the procedure is implemented numerically for a 4-degrees of freedom manipulator.
IEEE TRANSACTIONS ON ROBOTICS
(2021)
Article
Computer Science, Artificial Intelligence
Zizhen Jiang, Wenbin Gao, Xiaoliu Yu
Summary: The original adjoint error model is a defective and complicated calibration model. We propose an improved adjoint error model that only requires position measurements of the end-effector, and a compensation algorithm to enhance robot position accuracy. Simulations on different robots and experiments on self-designed modular robots validate the effectiveness of our algorithms.
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS
(2023)
Article
Engineering, Mechanical
Raffaele Di Gregorio
Summary: This paper provides explicit expressions and geometric conditions for singular configurations of single-DOF spatial mechanisms. It also presents a technique for singularity analysis, which is an extension of the IC-based method for planar single-DOF mechanisms.
MECHANISM AND MACHINE THEORY
(2023)
Article
Automation & Control Systems
Zhicheng Liu, Xilong Liu, Zhiqiang Cao, Xurong Gong, Min Tan, Junzhi Yu
Summary: This article proposes a new calibration method for vision-guided robot system based on error correction matrix, which achieves high precision joint calibration by unifying different manifestations of errors.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2023)
Article
Engineering, Mechanical
Raffaele Di Gregorio
Summary: In single-degree-of-freedom (single-DOF) mechanisms, the location of the instantaneous screw axes (ISAs) of the relative motions between any two links depends only on the mechanism configuration. Geometric and analytic techniques have been developed for determining the ISAs in planar mechanisms using the Aronhold-Kennedy (AK) theorem. However, there is a lack of techniques for determining ISAs in spatial mechanisms. This study presents a geometric and analytic technique based on the extended Aronhold-Kennedy (EAK) theorem for determining ISAs in single-DOF spatial mechanisms, and its effectiveness is demonstrated through case studies.
MECHANISM AND MACHINE THEORY
(2023)
Article
Computer Science, Information Systems
Ming Bai, Minglu Zhang, He Zhang, Manhong Li, Jie Zhao, Zhigang Chen
Summary: A new calibration method is proposed in this study, which combines a model with LSSVR to improve robot positioning accuracy. The method has shown significant effectiveness in experiments, enhancing the accuracy and robustness of robot positioning.
Article
Computer Science, Interdisciplinary Applications
Sun Tao, Chen Yuanlong, Han Tianyu, Jiao Chenlei, Lian Binbin, Song Yimin
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2020)
Article
Robotics
Tao Sun, Binbin Lian, Shuofei Yang, Yimin Song
IEEE TRANSACTIONS ON ROBOTICS
(2020)
Article
Critical Care Medicine
Monan Ni, Tao Sun, Tao Zhang, Jiahao Jin, Yimin Song
Summary: This study aimed to develop a universal method of quantifying early passive rehabilitation training after ankle fracture surgery using finite element analysis. Results provided the range of rehabilitation training for different types of ankle fractures.
INJURY-INTERNATIONAL JOURNAL OF THE CARE OF THE INJURED
(2022)
Article
Engineering, Electrical & Electronic
Zhiyuan He, Yimin Song, Binbin Lian, Tao Sun
Summary: Parallel manipulators have more kinematic errors than serial mechanisms. A finite and instantaneous screw-based kinematic calibration method is proposed to improve the accuracy of parallel manipulators. This method reduces the number of measurements required for calibration and increases the efficiency and accuracy of the calibration process.
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
(2023)
Article
Computer Science, Interdisciplinary Applications
Jintao Ma, Binbin Lian, Meng Wang, Gang Dong, Qi Li, Jin Wu, Yong Yang
Summary: A six degree-of-freedom (DoF) parallel robot is proposed and designed for assembling tasks in confined spaces such as aircraft or train cabins. The robot achieves a high load-to-mass ratio through topology optimization and multi-objective optimization. The optimal design is obtained by establishing meta models and using the Pareto-based optimization method.
ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING
(2023)
Article
Robotics
Qi Yang, Ze Yu, Xinyu Liu, Binbin Lian, Tao Sun
Summary: This letter presents a small-scale untethered tensegrity robot with high velocity and multi-locomotion modes. A clustered tensegrity structure and modular concept are adopted to design the robot, enabling it to achieve high velocity multi-locomotion within a small scale and light weight.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Engineering, Electrical & Electronic
Sida Liu, Yimin Song, Binbin Lian, Tao Sun
Summary: This paper proposes a pose recognition method based on novel image markers and establishes layout principles and error compensation strategies for achieving the desired recognition accuracy.
Article
Robotics
Chenlei Jiao, Binbin Lian, Zhe Wang, Yimin Song, Tao Sun
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
(2020)
Article
Computer Science, Information Systems
Zhiyuan He, Binbin Lian, Qi Li, Yue Zhang, Yimin Song, Yong Yang, Tao Sun