Space Exploration is a continuously flourishing field of research, as NASA has a plethora of ongoing missions to be achieved over the next few years. With the advent of many robotic platforms dedicated for space explo...
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ISBN:
(纸本)9798350361087;9798350361070
Space Exploration is a continuously flourishing field of research, as NASA has a plethora of ongoing missions to be achieved over the next few years. With the advent of many robotic platforms dedicated for space exploration such as NASA's Dragonfly, their Mars Perserverance Rover, and many more, it is evident that these types of robots will continue to play a key role. Despite their success, the limited man power for such specialized operators, reliability concerns with Unmanned Aerial Vehicles (UAVs or drones) in such harsh environments, and the limited battery life justify the consideration of different approaches. This paper presents work towards a suspended cable-drivenparallelrobot (CDPR), paired with an intuitive Virtual Reality interface designed for space exploration. Real-time 3D Point Cloud visualization can potentially grant the operator a greater sense of immersion, and can allow any operator to view the environment around the CDPR. Along with the benefits of a CDPR, an immersive VR interface gives operators intuitive control through rigorous tasks.
In the field of robotics, energy consumption is a very important factor that must be considered. Plenty of research focuses on optimizing the systems design in order to maximize energy efficiency. In cabledriven para...
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ISBN:
(纸本)9781538669624
In the field of robotics, energy consumption is a very important factor that must be considered. Plenty of research focuses on optimizing the systems design in order to maximize energy efficiency. In cable driven parallel robots, the energy required for picking up or releasing is directly related to the geometric position of the links between the cables and the final effector. This article evaluates the configuration of a cable driven parallel robot with three degrees of freedom, and a rectangular final effector. For this reason the kinematics are analyzed with a Jacobian matrix using Screws theory considering different linkage points. With the kinetic energy known it is possible to find a proper location guarantying the lowest energy consumption. All calculations are done in a MATLAB and the results are corroborated with the Adams View 2017.2 simulation software.
Recently an active locomotive capsule endoscope (CE) for diagnosis and treatment in the digestive system has been widely studied. However, real-time localization to achieve precise feedback control and record suspicio...
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Recently an active locomotive capsule endoscope (CE) for diagnosis and treatment in the digestive system has been widely studied. However, real-time localization to achieve precise feedback control and record suspicious positioning in the intestine is still challenging owing to the limitation of capsule size, relatively large diagnostic volume, and compatibility of other devices in clinical site. To address this issue, we present a novel robotic localization sensing methodology based on the kinematics of a planar cable driven parallel robot (CDPR) and measurements of the quasistatic magnetic field of a Hall effect sensor (HES) array. The arrangement of HES and the Levenberg-Marquardt (LM) algorithm are applied to estimate the position of the permanent magnet (PM) in the CE, and the planar CDPR is incorporated to follow the PM in the CE. By tracking control of the planar CDPR, the position of PM in any arbitrary position can be obtained through robot forward kinematics with respect to the global coordinates at the bedside. The experimental results show that the root mean square error (RMSE) for the estimated position value of PM was less than 1.13 mm in the X, Y, and Z directions and less than 1.14 degrees in the theta and phi orientation, where the sensing space could be extended to +/- 70 mm for the given 34 x 34 mm(2) HES array and the average moving distance in the Z-direction is 40 +/- 2.42 mm. The proposed method of the robotic sensing with HES and CDPR may advance the sensing space expansion technology by utilizing the provided single sensor module of limited sensible volume.
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