A practical architecture, using a four-bar-linkage, is cgnsidered for the University of Minnesota direct drive robot [8]. This staticallybalanced direct drive robot has been constructed for stability analysis of the robot in constrained manipulation [5 -7]. As a result of the elimination of the gravity forces (without any counter weights), smaller actuators and consequently smaller amplifiers w...

In this paper, a novel unsymmetrical five–four bar Planar Parallel Manipulator (PPM) with three Degree-of-Freedoms (DOFs) is proposed, the new manipulator is composed of a double-layer five-bar part with a four-bar part located in between. Targeting for the application of Chinese dish cooking machine, the detailed kinematics analysis for the new PPM is developed. Different from traditional thre...

This document describes an on-going multi-robot project, an intelligent bartender-waiter robot system in which a team of different robots serves people in a bar. In this system, KeJia robot plays the role of bartender who recognizes and grasps the drink by following the order of people and gives it to a TurtleBot, several TurtleBots deliver drinks to people as waiters. By developing this system...

This article presents a procedure for the quasi-static compliance calibration of serial articulated industrial manipulators. Quasi-static refers to apparent stiffness displayed by manipulators at low-velocity movements, i.e., from 50 250 mm/s. The novelty lies in measurement phase, which deflections manipulator’s end effector are measured under movement along circular trajectory. might be more ...

Parametric reconfiguration plays a key role in non-iterative concurrent design of mechatronic systems. This is because it allows the designer to select, among different competitive solutions, the most suitable without sacrificing sub-optimal characteristics. This paper presents a method based on an evolutionary algorithm to improve the parametric reconfiguration feature in the optimal design of...

When a robot system collides with its environment, unexpected position errors occur due to the effect of impact. Large actuation effort may grow up to compensate for these errors. The sudden increases of actuator torque may violate the torque limit. In this papec we propose to employ redundant actuation mode to facilitate disturbance rejection. An optimal loud distribution algorithm for redunda...

When a robot system collides with its environment, unexpected position errors occur due to the effect of impact. Large actuation effort may grow up to compensate for these errors. The sudden increases of actuator torque may violate the torque limit. In this paper, we propose to employ redundant actuation mode to facilitate disturbance rejection. An optimal load distribution algorithm for redund...