Dimensional Optimization for Minimally Invasive Surgery Robot Based on Double Space and Kinematic Accuracy Reliability Index

2020 ◽  
Vol 3 (2) ◽  
Author(s):  
Yang Jing ◽  
Jin Lingyan ◽  
Shi Xinge ◽  
Zhao Deming ◽  
Hu Ming
Keyword(s):  
Reliability Index ◽  
Position Error ◽  
Optimal Size ◽  
Kinematic Accuracy ◽  
Position Accuracy ◽  
Adjustment Mechanism ◽  
Error Space ◽  
Double Space ◽  
Kinematic Performance ◽  
Dimensional Optimization

Abstract To improve the kinematic performance of the remote center mechanism for surgical robot, a double space index and kinematic accuracy reliability index are proposed to optimize the dimensional sizes of mechanism. First, the influence of the angular error on the position error and the operability of the remote center in the workspace are analyzed. The position error space and operability space index are weighted to establish the double space index. Second, a kinematic accuracy reliability index is established based on the influence of joint clearance on output position accuracy. Finally, the dimensional sizes of remote center adjustment mechanism and double parallelogram mechanism are optimized based on proposed optimization indices. Multipopulation genetic algorithm is used to obtain the optimal size parameters under the corresponding index. The optimized double space index is 56.7%, which is 56.5% higher than before optimization. The optimized kinematic accuracy reliability is 0.91, which is 22.9% higher than before optimization. The kinematic performance of remote center mechanism has been significantly improved after optimization.

Topological Synthesis and Integrated Kinematic-Structural Dimensional Optimization of a Ten-Bar Linkage for a Hydraulic Rescue Spreader

2013 ◽  
Author(s):  
Thomas Sullivan ◽  
James D. Van de Ven
Keyword(s):  
Emergency Response ◽  
Grid Search ◽  
Performance Parameters ◽  
Dimensional Synthesis ◽  
Synthesis Technique ◽  
Vehicle Crash ◽  
Kinematic Performance ◽  
Dimensional Optimization ◽  
Topological Synthesis

Hydraulic rescue spreaders are used by emergency response personnel to extricate occupants from a vehicle crash. A lighter and more portable rescue spreader is required for better usability and to enable utilization in a variety of scenarios. To meet this requirement, topological synthesis, dimensional synthesis, and an optimization were used to develop a solution linkage. The topological synthesis technique demonstrates that ten links are the minimum possible number that achieves the desired motion without depending primarily on rotation of the spreader jaws. A novel integrated kinematic-structural dimensional synthesis technique is presented and used in a grid-search optimizing the linkage dimensions to minimize linkage mass. The resulting ten-bar linkage meets or exceeds the kinematic performance parameters while simultaneously achieving a near-optimum predicted mass.

Interval Reliability Analysis of Parameters of Section of Main Beam

2014 ◽  
Vol 644-650 ◽  
pp. 4991-4994
Author(s):  
Jian Fang Zhou ◽  
Guang Ran Lu
Keyword(s):  
Monte Carlo ◽  
Reliability Analysis ◽  
Optimization Algorithm ◽  
Reliability Index ◽  
Main Beam ◽  
One Dimensional ◽  
Advantages And Disadvantages ◽  
Interval Reliability ◽  
Dimensional Optimization

In the calculation of the reliability of hydraulic, due to extensive uncertainties, there are lots of errors in probabilistic reliability analysis. In this paper, by comparing the non-probabilistic reliability index of different function, we get the advantages and disadvantages of one-dimensional optimization algorithm and method of Monte Carlo, and compare the functions of each variable of main beam to obtain the influence of the precision of the variables.

scholarly journals Adaptive Machining Scheme for Multi-Hole Part with Multi-Position Accuracy Requirements

2021 ◽  
Author(s):  
Zhen Sun ◽  
Pingfa Feng ◽  
Long Zeng ◽  
Shaoqiu Zhang ◽  
Xi Cheng
Keyword(s):  
Position Error ◽  
Experimental Results ◽  
Correction Model ◽  
Topological Relationship ◽  
Position Accuracy ◽  
Compensation Process ◽  
Adaptive Machining ◽  
Hole Position ◽  
Position Correction ◽  
Relationship Of

Abstract The machining of multi-hole parts often has complex correlated position accuracy requirements. When some position accuracies do not meet the requirements, several hole axes need to be adjusted. Previous methods usually correct all deviated axes to their theoretical locations. However, the correction workload is too large and inefficient. This paper proposes an efficient and adaptive hole position correction model for multi-hole part. First, the method establishes the topological relationship of the holes and faces on the part according to the position accuracy requirements of the multi-hole part. Then, the goal is to minimize the number of holes that need to be corrected. In this model, the parallelism of holes, perpendicularity, and other constraints are considered. The simulation and experimental results show that the use of this model can effectively reduce the number of holes that need to be corrected during the compensation of the position error between holes. It improves the efficiency in the subsequent compensation process significantly.

Assessing Seaglider® Model-based Position Accuracy on an Acoustic Tracking Range

2021 ◽  
Author(s):  
James S. Bennett ◽  
Frederick R. Stahr ◽  
Charles C. Eriksen ◽  
Martin C. Renken ◽  
Wendy E. Snyder ◽  
...  
Keyword(s):  
Autonomous Underwater Vehicles ◽  
Position Error ◽  
Momentum Balance ◽  
Model Parameters ◽  
Tidal Basin ◽  
Acoustic Tracking ◽  
Position Accuracy ◽  
Dependent Flow ◽  
Tracking Range ◽  
Flight Model

AbstractSeagliders® are buoyancy-driven autonomous underwater vehicles whose sub-surface position estimates are typically derived from velocities inferred using a flight model. We present a method for computing velocities and positions during the different phases typically encountered during a dive-climb profile based on a buoyancy-driven flight model. We compare these predictions to observations gathered from a Seaglider deployment on the acoustic tracking range in Dabob Bay (200 m depth, mean vehicle speeds ~30 cm s-1), permitting us to bound the position accuracy estimates and understand sources of various errors. We improve position accuracy estimates during long vehicle accelerations by numerically integrating the flight-model's fundamental momentum-balance equations. Overall, based on an automated estimation of flight-model parameters, we confirm previous work that predicted vehicle velocities in the dominant dive and climb phases are accurate to < 1 cm s-1, which bounds the accumulated position error in time. However, in this energetic tidal basin, position error also accumulates due to unresolved depth-dependent flow superimposed upon an inferred depth-averaged current.

The Research of the PCB Location Based on Three Layers of MARK Point

2011 ◽  
Vol 317-319 ◽  
pp. 869-876 ◽  
Author(s):  
Hao Wu ◽  
Xian Min Zhang ◽  
Yong Cong Kuang
Keyword(s):  
Position Error ◽  
Field Of View ◽  
Uneven Surface ◽  
Position Accuracy ◽  
Loading Process ◽  
Optical Inspection ◽  
Automated Optical Inspection

In order to reduce the position error produced by single board assembly and partial uneven surface in automated optical inspection, a new position method based on three layers of MARK point is developed. the first layer is the whole board alignment which compensate the position error of the PCB loading process, the second layer is the single board alignment which compensate the position error of the single board assembly, the last layer is the partial FOV(field of view) alignment which compensate the position error of the partial uneven surface. The experiment result proved the proposed position method improved the position accuracy obviously.

Position Error Research of Multi-Legged Walking Robots with Hand-Foot-Integration Function

2011 ◽  
Vol 317-319 ◽  
pp. 776-781
Author(s):  
Jing Chao Zou ◽  
Liang Wen Wang ◽  
Wei Gang Tang ◽  
Duan Qin Zhang ◽  
Wei Hong Chen
Keyword(s):  
Position Error ◽  
Legged Robots ◽  
Walking Robots ◽  
Detailed Calculation ◽  
Practical Application ◽  
Position Accuracy ◽  
Analysis Process ◽  
Calculation Process ◽  
Speed Up ◽  
Foot Function

Development of integrated hand-foot function will speed up the practical application of multi-legged robots. If the positions of each foothold, the driven joint variables and length of linkage bar in leg are inaccurate, the arms (swing leg) of the robot are likely to deviate from required positions. In this paper, through the calculation process of the multi-legged walking robot's arm path, we discussed the calculating problem of the arm's position accuracy under the condition that the errors of foothold positions, driven joint variables and leg's linkage bar length are given. Detailed calculation formulas are given, and the analysis process is illustrated by an example.

Statistical Characteriztion of Position Errors of an Ensemble of Robots and Its Applications

1989 ◽  
Vol 111 (2) ◽  
pp. 215-222 ◽  
Author(s):  
Chia-Hsiang Menq ◽  
Jin-Hwan Borm
Keyword(s):  
Reference Frames ◽  
Statistical Error ◽  
Position Error ◽  
Positioning Accuracy ◽  
Position Accuracy ◽  
Position Errors ◽  
Working Space ◽  
Absolute Positioning ◽  
Error Field ◽  
The Absolute

For the accurate control and implementation of a robot in an integrated manufacturing environment using off-line programming, a knowledge of the absolute positioning accuracy of the robot becomes important. This paper presents a framework which can be used to statistically represent the absolute positioning accuracy for a family of robots. Statistical error measure indices are proposed to represent the position error field over the working space for a family of robots. This error field provides statistical information for the position errors of the end-effector and can be a guide for the determination of the optimal design tolerances of the parts composing of a robot. The second objective of the paper is to introduce a simple interpolation scheme to improve the local position accuracy by teaching one or more task reference frames with which goal positions are mathematically expressed. It will be shown how the method shifts or alters the position error field in order to maintain the desired position accuracy within a desired working area.

Calibration Methods of Planar Parallel Robot

2011 ◽  
Vol 464 ◽  
pp. 340-343
Author(s):  
Wei Da Li ◽  
Juan Li ◽  
Li Ning Sun
Keyword(s):  
Error Compensation ◽  
Calibration Method ◽  
Parallel Robot ◽  
Position Error ◽  
Experimental Results ◽  
Kinematic Calibration ◽  
Absolute Position ◽  
Position Accuracy ◽  
Calibration Methods ◽  
Means Of Measurement

Kinematic calibration is an effective method of improving robotic absolute position accuracy by means of measurement, identification and compensation etc. This paper investigates the technology of kinematic calibration and error compensation for the 2-DOF planar parallel robot. A multi-step calibration method is presented based on error itterative method and nonlinear optimum method. Experimental results indicate that the proposed method can effectively compensate position error of the robot in Oxy plane, and the absolute position error of the calibrated robot is less than 6μm.

The Experience of Industrialization under NEPand Its Application in the Current Conditions

2013 ◽  
pp. 109-135
Author(s):  
Y. Goland
Keyword(s):  
Economic Policy ◽  
Capital Formation ◽  
Optimal Size ◽  
Popular Belief ◽  
New Economic Policy ◽  
Relevant Today ◽  
Domestic Capital

The article refutes popular belief about the necessity to abolish the New Economic Policy (NEP) of the 1920s for the purpose of industrialization. It is shown that it started successfully under NEP although due to a number of reasons the efficiency of the investments was low. The abolishment of NEP was caused not by the necessity to accelerate the industrialization but by the wrong policy towards the agriculture that stopped the development of farms. The article analyzes the discussion about possible rates of the domestic capital formation. In the course of this discussion, the sensible approach to finding the optimal size of investments depending on their efficiency was offered. This approach is still relevant today.

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