Global Performance Index System for Kinematic Optimization of Robotic Mechanism

Zhang, Pu; Yao, Zhenqiang; Du, Zhimin

doi:10.1115/1.4026031

Cited by 36 publications

(19 citation statements)

References 7 publications

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“…A survey on the use of transmission angles in 4, 5, 6 and 7 bar linkages can be found in Balli and Chand (2002). Furthermore, some works have attempted to extend the use of pressure angle or transmission angle to spatial PKMs (Zhang et al, 2011;Zhao et al, 2016). Although these angles have clear physical meaning when used in planar linkages, their definitions become difficult and complex with vague physical meaning when used in complex spatial PKMs with a large number of DOF (Shao et al, 2017).…”

Section: Angle-based Force Transmission Indicesmentioning

confidence: 99%

Review article: Performance measures of parallel kinematics manipulators

2020

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Abstract. This extensive review paper, which involves 204 papers, discusses comprehensively a number of performance indices that are instrumental in the design of parallel kinematics manipulators. These indices measure the workspace as well as its quality including the distance to singularity, dexterity, manipulability, force transmission, accuracy, stiffness, and dynamic performance. After being classified, the indices are discussed in terms of some important aspects including definition, physical meaning soundness, dependency, consistency, scope of applicability, and computation cost. For the sake of completeness, some key mathematical expressions of the indices are provided.

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Section: Angle-based Force Transmission Indicesmentioning

confidence: 99%

Review article: Performance measures of parallel kinematics manipulators

2020

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“…are recommended. As discussed by Zhang, Yao & Du (2014), there have been many manipulator kinematic performance measures proposed in the literature, several of which are directly applicable to harvesting applications. Selecting the correct performance indices can be a confusing task.…”

Section: Manipulator Optimizationmentioning

confidence: 99%

Robotic Manipulation for Specialty Crop Harvesting: A Review of Manipulator and End-Effector Technologies

Davidson

Bhusal

et al. 2020

Global J. Ag. Allied Sc.

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This paper reviews recent developments in manipulator and end-effector technologies for the robotic harvesting of specialty crops that include fruits, vegetables, nursery crops, and nuts among others. Quantitative performance measures and general review criteria, including methods of crop detachment and end-effector sensing, are used to evaluate technologies and determine state-of-the-art in the field. Challenges affecting commercial implementation, limitations of current mechanical designs, and best practices are then presented. Results of the review show that, in general, robotic manipulation during harvesting has been limited by lack of system optimization and insufficient robustness to position error accumulated during visual localization. Inconsistent reporting practices have also hampered research and development across the field. At the conclusion of the review, some avenues of future research that could potentially lead to improvements in system performance are proposed. Some of the proposed recommendations include specific horticultural practices, the development of modular, multi-functional designs, and the incorporation of robust grasping techniques used in many of today’s robotic hands.

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“…Kinematic performance index. Velocity isotropy 31,32 widely used in the mechanical optimization indicates kinematic isotropy deduced by Eq. (4).…”

Section: Dimensional Synthesis Of the Mis Robotmentioning

confidence: 99%

Dimensional synthesis and concept design of a novel minimally invasive surgical robot

Niu¹,

Pan²,

Zhang³

et al. 2018

Robotica

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SUMMARYA new minimally invasive surgical (MIS) robot consisting of a spherical remote center motion (RCM) mechanism with modular design is proposed. A multi-objective dimensional synthesis model is presented to obtain the excellent performance indices. There are four objectives: a global kinematic index, a compactness index, a global comprehensive stiffness index, and a global dynamic index. Other indices characterizing the design requirement, such as workspace, mechanical parameter, and mass, are chosen as constraints. A new decoupled mechanism is raised to solve the coupled motion between the linear platform and the four degrees of freedom (DoF) of surgical instrument as a result of post-driving motors. Another new mechanical decoupled method is proposed to eliminate the coupled motion between the wrist and the forceps, enhance the dexterity of surgical instrument, and improve the independence of each motor. Then, a 7-DoF MIS robotic prototype based on optimization results has been built up. Experiment results validate the effectiveness of the two mechanical decoupled methods. The position change of the RCM point, accuracy, and repeatability of the MIS robot meet the requirements of MIS. Successful animal experiments validate the effectiveness of the novel MIS robot.

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Global Performance Index System for Kinematic Optimization of Robotic Mechanism

Cited by 36 publications

References 7 publications

Review article: Performance measures of parallel kinematics manipulators

Review article: Performance measures of parallel kinematics manipulators

Robotic Manipulation for Specialty Crop Harvesting: A Review of Manipulator and End-Effector Technologies

Dimensional synthesis and concept design of a novel minimally invasive surgical robot

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