This paper presents a method for the autonomous calibration of six degrees-of-freedom parallel robots. The calibration makes use of the motorized prismatic joint positions corresponding to some sets of configurations where in each set either a passive Universal joint or a passive Spherical joint is fixed using a lock mechanism. Simulations give us an idea about the number of sets that must be used, the number of configurations by set and the effect of noise on the calibration accuracy. The main advantage of this method is that it can be executed rapidly without need to external sensors to measure the position or the orientation of the mobile platform.
This paper presents a numerical method for the determination o j the identiJiable parameters of parallel robots. The special case of Stewart-Gough 6 degrees-offreedom parallel robots is studied for classical and seEf calibration methods, but this method can be generalized to any kind ofparallel robot. The method is based on QR decomposition of the observation matrix of the calibration system. Numerical relations between the parameters which are identiJied and those which are not identijiable can be obtained for each method.
1. Flight is an energy-demanding behaviour in insects. In parasitic wasps, strategies of nutrient acquisition and allocation, resulting life-history trade-offs and relationships with foraging strategies and resource availability have received much attention. However, despite the ecological importance of dispersal between host and food patches, and the great impact energy diverted to flight should have on lifetime reproductive success, the eco-physiology of flight in parasitoids is poorly understood.2. The objective of this study is to (i) identify the energetic resources used to fuel flight, and (ii) relate nutrient type and rate of utilisation to selective pressures in terms of resource availability posed by the environment.3. Using a flight mill and biochemical assays, we compared flight performance and nutrient dynamics during flight between two reproductive modes of the parasitoid Venturia canescens Gravenhorst, which is known to thrive preferentially in contrasted environments (i.e. natural vs. anthropogenic habitat), differing notably in host and food distribution. 4. Biochemical analyses of different nutrient types showed that glycogen is the flight fuel used by this species, yet no significant differences in its dynamics in flight were found between the two reproductive modes.5. Results suggest that both glycogen quantity and flight performance are related to the diverging ecological conditions experienced by thelytokous and arrhenotokous strains.
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