Tolerance design and kinematic calibration of a 4-DOF pick-and-place parallel robot

This paper presents a comprehensive methodology for ensuring the geometric pose accuracy of a 4-DOF high-speed pick-and-place parallel robot having an articulated travelling plate. The process is implemented by four steps: (1) formulation of the error model containing all possible geometric source errors; (2) tolerance design of the source errors affecting the uncompensatable pose accuracy via sensitivity analysis; (3) identification of the source errors affecting the compensatable pose accuracy via a simplified model and distance measurements; and (4) development of a linearized error compensator for real-time implementation. Experimental results show that a tilt angular accuracy of 0.1/100, and a volumetric/rotational accuracy of 0.5 mm/±0.8 deg of the end-effector can be achieved over the cylindrical task workspac

Kinematic calibration of Delta robot using distance measurements

This paper deals with kinematic calibration of the Delta robot using distance measurements. The work is mainly placed upon: (1) the error modeling with a goal to classify the source errors affecting both the compensatable and uncompensatable pose accuracy; (2) the full/partial source error identification using a set of distance measurements acquired by a laser tracker; and (3) design of a linearized compensator for real-time error compensation. Experimental results on a prototype show that positioning accuracy of the robot can significantly be improved by the proposed approach

Optimal design of a 2-DOF pick-and-place parallel robot using dynamic performance indices and angular constraints

This paper presents an approach for the optimal design of a 2-DOF translational pick-and-place parallel robot. By taking account of the normalized inertial and centrifugal/Coriolis torques of a single actuated joint, two global dynamic performance indices are proposed for minimization. The pressure angles within a limb and between two limbs are considered as the kinematic constraints to prevent direct and indirect singularities. These considerations together form a multi-objective optimization problem that can then be solved by the modified goal attainment method. A numerical example is discussed. A number of robots designed by this approach have been integrated into production lines for carton packing in the pharmaceutical industry

Advanced surface color quality assessment in paper-based full-color 3d printing

Color 3D printing allows for 3D-printed parts to represent 3D objects more realistically, but its surface color quality evaluation lacks comprehensive objective verification considering printing materials. In this study, a unique test model was designed and printed using eco-friendly and vivid paper-based full-color 3D printing as an example. By measuring the chromaticity, roughness, glossiness, and whiteness properties of 3D-printed surfaces and by acquiring images of their main viewing surfaces, this work skillfully explores the correlation between the color representation of a paper-based 3D-printed coloring layer and its attached underneath blank layer. Quantitative analysis was performed using ΔE*ab, feature similarity index measure of color image (FSIMc), and improved color-image-difference (iCID) values. The experimental results show that a color difference on color-printed surfaces exhibits a high linear correlation trend with its FSIMc metric and iCID metric. The qualitative analysis of microscopic imaging and the quantitative analysis of the above three surface properties corroborate the prediction of the linear correlation between color difference and image-based metrics. This study can provide inspiration for the development of computational coloring materials for additive manufacturing

Experimental and Numerical Study on the Strain Behavior of Buried Pipelines Subjected to an Impact Load

Long-distance oil and gas pipelines are inevitably impacted by rockfalls during geologic hazards such as mud-rock flow and landslides, which have a serious effect on the safe operation of pipelines. In view of this, an experimental and numerical study on the strain behavior of buried pipelines under the impact load of rockfall was developed. The impact load exerted on the soil, and the strains of buried pipeline caused by the impact load were theoretically derived. A scale model experiment was conducted using a self-designed soil-box to simulate the complex geological conditions of the buried pipeline. The simulation model of hammer&ndash soil&ndash pipeline was established to investigate the dynamic response of the buried pipeline. Based on the theoretical, experimental, and finite element analysis (FEA) results, the overall strain behavior of the buried pipeline was obtained and the effects of parameters on the strain developments of the pipelines were analyzed. Research results show that the theoretical calculation results of the impact load and the peak strain were in good agreement with the experimental and FEA results, which indicates that the mathematical formula and the finite element models are accurate for the prediction of pipeline response under the impact load. In addition, decreasing the diameter, as well as increasing the wall thickness of the pipeline and the buried depth above the pipeline, could improve the ability of the pipeline to resist the impact load. These results could provide a reference for seismic design of pipelines in engineering. Document type: Articl

Optimal design of a 2-DOF pick-and-place parallel robot using dynamic performance indices and angular constraints

This paper presents an approach for the optimal design of a 2-DOF translational pick-and-place parallel robot. By taking account of the normalized inertial and centrifugal/Coriolis torques of a single actuated joint, two global dynamic performance indices are proposed for minimization. The pressure angles within a limb and between two limbs are considered as the kinematic constraints to prevent direct and indirect singularities. These considerations together form a multi-objective optimization problem that can then be solved by the modified goal attainment method. A numerical example is discussed. A number of robots designed by this approach have been integrated into production lines for carton packing in the pharmaceutical industry

Quantum Hall effect in monolayer-bilayer graphene planar junctions

The Hall resistance of a homogeneous electron system is well known to be antisymmetric with respect to the magnetic field and the sign of charge carriers. We have observed that such symmetries no longer hold in planar hybrid structures consisting of partly single layer graphene (SLG) and partly bilayer graphene (BLG) in the quantum Hall (QH) regime. In particular, the Hall resistance across the SLG and BLG interface is observed to exhibit quantized plateaus that switch between those characteristic of SLG QH states and BLG QH states when either the sign of the charge carriers (controlled by a back gate) or the direction of the magnetic field is reversed. Simultaneously reversing both the carrier type and the magnetic field gives rise to the same quantized Hall resistances. The observed SLG-BLG interface QH states, with characteristic asymmetries with respect to the signs of carriers and magnetic field, are determined only by the chirality of the QH edge states and can be explained by a Landauer-Buttiker analysis applied to such graphene hybrid structures involving two regions of different Landau level structures