Qingmei Meng

Design and Development on a Reconfigurable Modular Joint of the Robot Arm

According to the mathematical model of the mechatronics integration of the flexible robot joint, a modular joint structure is proposed. The factors, which influence the stability of the whole modular mechanical and electrical system bandwidth, are analyzed by force/position hybrid control strategy. Furthermore, these analyses provide the theory basis for reducing the vibrating and motion error. Based on the results of the analysis, multi-objective dynamic optimization algorithm is used to obtain the set of optimal mechanical and controller parameters for the modular joint system, and the key parts are the preferred selection. Finally, the experiment about the precision of modular joints showed that the modular joint can achieve the desired accuracy and provided theoretical basis and design reference for the design of modular joints to performance better.

Structure Performance Improvement of Parallel Mechanisms by Optimizing Topological Configurations

This paper deals with structure performance improvement of parallel mechanisms by optimizing topological configurations based coupling-reducing principle. Taking three-translation parallel mechanism 3-R//R//C as the example, a coupling-reducing configuration is designed by only optimizing its branch chain architecture between the moving platform and the static platform without changing the structure of the branch chain itself. This leads that the coupling degree of the configuration is reduced from k = 1 to k = 0. So it is easy to get its forward position kinematics analytical solution. After comparing and analyzing input-output decoupling characteristic, the singularity, workspace, dexterity of the optimization configuration with that of typical configuration, it is found that these performance are obviously better than the typical configuration before optimization. This paper provides an effective method of topology configurations optimization design.