Latest Papers

ASME Journal of Mechanisms and Robotics

  • Measurement Configuration Optimization and Kinematic Calibration of a Parallel Robot
    by Huang C, Xie F, Liu X, et al. on December 10, 2021 at 12:00 am

    AbstractThis paper presents the kinematic calibration of a four-degrees-of-freedom (4DOF) high-speed parallel robot. In order to improve the calibration effect by decreasing the influence of the unobservable disturbance variables introduced by error measurement, a measurement configuration optimization method is proposed. Configurations are iteratively selected inside the workspace by a searching algorithm, then the selection results are evaluated through an index associated with the condition number of the identification Jacobian matrix; finally, the number of optimized configurations is determined. Since the selection algorithm has been shown to be sensitive to local minima, a meta-heuristic method has been applied to decrease this sensibility. To verify the effectiveness of the algorithm and kinematic calibration, computation validations, pose error estimations, and experiments are performed. The results show that the identification accuracy and calibration effect can be significantly improved by using the optimized configurations.

Balloon Locomotion for Extreme Terrain

Abstract

BALLET (BALloon Locomotion for Extreme Terrain) is a new concept vehicle for robotic surface mobility on planetary bodies with an atmosphere. The vehicle is composed of a buoyant balloon with six evenly distributed suspended payload modules each serving as a foot for locomotion over inaccessible rugged terrain. While the physics of BALLET will apply on Venus and Mars, the environmental conditions and available component technology limit our consideration to Titan. We describe the concept in detail, its applications for science missions on Titan, mission deployment scenarios, analyses of the concept under varying environmental conditions, and simulations of its locomotion. The concept is shown to be feasible and provides a new approach for exploration of rugged lakes, dunes, shorelines, and cryovolcanic regions on Titan.
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