Forthcoming and Online First Articles

International Journal of Mechanisms and Robotic Systems

International Journal of Mechanisms and Robotic Systems (IJMRS)

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International Journal of Mechanisms and Robotic Systems (5 papers in press)

Regular Issues

  • Decoupling optimisation and fuzzy back end evaluation of lower extremity exoskeleton robot   Order a copy of this article
    by Jinliang Gong, Ke Sun, Xuefang Teng, Yanfei Zhang, Yubin Lan, Mostafa Kazi 
    Abstract: To improve the efficiency of innovative design and performances of product, a self-commentary design method facing product-oriented innovation and fuzzy back end evaluation was proposed. Firstly, a functional structure mode of product was built on the basis of axiomatic design theory. The contradiction matrix must be built and the initial scheme should be redesigned by TRIZ conflict analysis method in order to be decoupled, and got product innovation program. Lastly, taking the lower extremity exoskeleton robot as an example, the structure was decoupled and optimised using Altium Designer (AD) and TRIZ theory and the performance of the lower extremities exoskeleton robot was evaluated quantificationally by using fuzzy analytic hierarchy process, which verified the feasibility and effectiveness of the decoupling design and fuzzy back end evaluation method for product innovation design and inspection.
    Keywords: TRIZ; axiomatic design; fuzzy analytic; couple; conflict.
    DOI: 10.1504/IJMRS.2021.10042915
     
  • Natural hand posture determination using control-oriented inter-finger coordination kinematic models   Order a copy of this article
    by Nina Robson, Jong-Seob Won 
    Abstract: The paper builds up on a recently developed planar control-oriented finger kinematic model for natural grasping, based on thumb-long finger(s) anthropometric data. In the model, the posture is determined by the time-dependent radius R of a virtual cylinder encompassed by the fingers. After the experimental evaluation of the model, the results are combined with circle configuration techniques based on the Pedoe maps, to explore the relation between the fingertip-object curvature within the contact and the configuration parameter R for precision grasping. Within the proposed contact geometry setup the fingertip and object curvatures are represented by circles with different radii. The type of interaction is described by defining a configuration matrix. Six fingertip grasping configurations are considered, each of which is constructed from five available circles: two for the fingertips, one virtual circle, and two at the fingertip-object contact points. The results from the case study show that it is possible to calculate the configuration control parameter R based on the choice of any four circles. The preliminary results could further benefit the field of postural synergies and object manipulation, and open the door to the definition of novel kinematic tasks and future combined design-control strategies.
    Keywords: human motion; Pedoe maps; contact and curvature kinematic constraints.
    DOI: 10.1504/IJMRS.2022.10044234
     
  • Path planning of mobile robot in complex environment based on improved Q-learning algorithm   Order a copy of this article
    by Yuyang Zhou, Dongshu Wang 
    Abstract: Path planning is one of the key technologies of mobile robots. This paper applies the Q-learning algorithm to path planning of mobile robots. To solve the blindness of the mobile robot in exploring the environment, this paper combines RRT algorithm and improves it to increase the goal-orientated performance of the robot in exploring the environment. To overcome the slow convergence rate of the classical Q-learning, the exploration rate, discount rate, learning rate and other parameters in Q-learning are modified; a modified ant colony optimisation (ACO) algorithm is designed to make the robot consider the information of other robots and improve the precision of action decision; the hierarchical idea in the grey wolves optimisation algorithm is introduced into the modified ACO algorithm to realise the dynamic regulation of pheromone. Finally, the modified Dyna-2 algorithm is designed to enhance the generalisation of the Q-learning algorithm. The potential of the proposed hybrid intelligent algorithm is proved by the path planning experiments in two static complex environments.
    Keywords: path planning; Q-learning; ant colony algorithm; ACO; rapidly-exploring random trees; RRT; grey wolf optimiser; GWO; mobile robot.
    DOI: 10.1504/IJMRS.2022.10052662
     

Special Issue on: Recent Advances in Mechanical Systems and Robotics

  • Multi-modal continuous approximate synthesis of planar four-bar function generators   Order a copy of this article
    by Zachary A. Copeland, M. John D. Hayes 
    Abstract: This paper introduces a novel multi-modal continuous approximate synthesis algorithm for planar four-bar function generators. The synthesis equation is the sum of the squared input-output (IO) equations integrated over the different prescribed input variable parameter ranges. Every planar four-bar mechanism explicitly generates six distinct functions each uniquely determined by one set of link parameter constants. We will examine the simultaneous continuous approximate synthesis of two related perturbed, but not competing, functions between different pairs of joint variables that, in general, require different link constants to generate. The optimisation involves identifying the best compromise link lengths. Planar 4R and RRRP examples are presented where two different functions, one primary and the other perturbed secondary, are generated over continuous ranges between the specified input variable parameter and the associated output variable parameter. The area between the prescribed and generated continuous IO curves is both a measure of the design and structural errors.
    Keywords: planar four-bar mechanisms; algebraic input-output; IO equations; continuous approximate synthesis; multi-modal continuous approximate synthesis.
    DOI: 10.1504/IJMRS.2022.10051739
     
  • Coupled least-squares forward kinematics and extended Kalman filtering for the pose estimation of a cable-driven parallel robot   Order a copy of this article
    by Neel Puri, Ryan J. Caverly 
    Abstract: This paper presents a novel pose estimation framework for a cable driven parallel robot (CDPR) built upon an extended Kalman filter (EKF) coupled with a nonlinear least-squares-based forward kinematics (FK) algorithm. This estimation approach makes use of an end-effector-mounted accelerometer and rate gyroscope, as well as measurements of the CDPR’s cable lengths. Coupling the EKF with the dynamically-updating error covariance on the pose estimate from FK, results in a more accurate pose estimate than FK alone. Simulation results are presented that confirm this improved accuracy and filter consistency. Multiple experimental results are also included, which demonstrate that EKF is capable of providing much lower covariance on the estimation error (i.e., much greater confidence in the pose estimate) compared to FK alone.
    Keywords: cable driven parallel robots; pose estimation; forward kinematics; extended Kalman filter; EKF; least-squares estimation.
    DOI: 10.1504/IJMRS.2022.10051925