Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Functions
Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Functions
复制标题
具有混合移动和操纵功能的驱动协调移动并联机器人
DOI：
10.1115/1.4053821
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发表时间：
2022
期刊：
影响因子：
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通讯作者：
Voyles, Richard
中科院分区：
文献类型：
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作者：
Gan, Dongming;Fu, Jiaming;Lin, Han;Yang, Haoguang;Rastgaar, Mo;Min, Byung-Cheol;Voyles, Richard
具有操作能力的移动的机器人是实现机器人灵活交互、大区域覆盖和远程探测的关键技术。本文提出了一类新型的驱动协调移动的并联机器人（ACMPR），利用并联机构的配置和执行混合移动和操作功能，通过协调轮驱动器。ACMPR与现有的移动的机械手的不同之处在于其独特的组合的移动的轮致动器和并联机构的拓扑结构，通过棱柱关节连接。轮子的共同运动将提供移动的功能，而它们的相对运动将致动平行操纵功能。与现有的移动的并联机器人相比，该机器人通过轮驱动器的协调连接，降低了驱动要求，提高了操作精度和移动的运动稳定性。基础框架上的相对车轮位置还可以实现可重新配置的基础尺寸，并在地面上具有可变的移动稳定性。介绍了基本概念和一般类型综合，并对选定的三肢ACMPR进行了运动学和逆动力学分析。通过数值仿真分析了新型移动的并联机器人的动力学模型和运动特性，并进行了样机实验验证。这项工作为引入这种新型机器人提供了基础，这些机器人可能应用于监视，工业自动化，建筑，运输，人类援助，医疗应用以及极端环境中的其他操作，如核电站，火星等。
Mobile robots with manipulation capability are a key technology that enables flexible robotic interactions, large area covering and remote exploration. This paper presents a novel class of actuation-coordinated mobile parallel robots (ACMPRs) that utilize parallel mechanism configurations and perform hybrid moving and manipulation functions through coordinated wheel actuators. The ACMPRs differ with existing mobile manipulators by their unique combination of the mobile wheel actuators and the parallel mechanism topology through prismatic joint connections. Common motion of the wheels will provide mobile function while their relative motion will actuate the parallel manipulation function. This new concept reduces actuation requirement and increases manipulation accuracy and mobile motion stability through coordinated and connected wheel actuators comparing with existing mobile parallel manipulators. The relative wheel location on the base frame also enables a reconfigurable base size with variable moving stability on the ground. The basic concept and general type synthesis are introduced and followed by kinematics and inverse dynamics analysis of a selected three limb ACMPR. A numerical simulation also illustrates the dynamics model and the motion property of the new mobile parallel robot (MPR) followed by a prototype-based experimental validation. The work provides a basis for introducing this new class of robots for potential applications in surveillance, industrial automation, construction, transportation, human assistance, medical applications, and other operations in extreme environment such as nuclear plants, Mars, etc.