Presidential Young Investigator Award: The Dynamics and Control of High-Speed Direct-Drive Manipulators

总统青年研究员奖：高速直驱机械臂的动力学与控制

• 批准号: 8657835
• 负责人: Kamal Youcef-Toumi
• 金额: $ 31.2万
• 依托单位: Massachusetts Institute of Technology
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 1987
• 资助国家: 美国
• 起止时间: 1987-09-01 至 1993-02-28
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=8657835&HistoricalAwards=false
• 关键词: Presidential; Young; Investigator; Award; Dynamics

This proposal is for support of research under the Foundation's Presidential Young Investigator (PYI) Awards program. Dr. Youcef-Toumi's research is directed toward the dynamics and control of high-speed direct-drive manipulators for manufacturing applications. The direct-drive manipulator is a robotic arm where high torque motors are direct coupled to the joint axes of the arm. The elimination of gearing between the motors and their corresponding loads results in an arm that has no backlash, low friction and high mechanical stiffness. All of these characteristics are desirable for fast, accurate and versatile torque controlled manipulators. His early research succeeded in developing a direct-drive arm using high torque brushless motors. The maximum speed and acceleration achieved were 10 m/sec and 5G respectively, which are an order of magnitude faster than existing robots. Research issues to be addressed under this grant include the development of control techniques for high performance servoing, analysis of the arm dynamics, and high speed high-accuracy trajectory control using nonlinear feedback/feedforward compensations. Additional research issues to be addressed include modeling and control systems design, hardware implementation, and software development for torque/force control applications. The objectives of the PYI program are to provide support to the Nation's most outstanding and promising young science and engineering faculty. The awards are intended to improve the capability of U.S. academic institutions to respond to the demand for highly qualified scientists and engineers for academic and industrial research and teaching. In accordance with those objectives, a Presidential Young Investigator Award for Dr. Youcef- Toumi is recommended. This is a five-year continuing award. Annual funding will be at the base level of $25,000 with a supplement of up to $37,500 to match industrial support obtained.

该提案旨在支持基金会的研究， 总统青年研究员奖（PYI） Youcef-Toumi博士的研究是针对动态和 用于制造的高速直接驱动机械手的控制 应用. 直接驱动机械手是一个机器人手臂， 高转矩电动机直接耦合到臂的关节轴。 消除电机和电机之间的齿轮传动， 相应的负载导致臂没有间隙，低 摩擦和高机械刚度。 所有这些 具有快速、准确和通用的特性， 力矩控制机械手 他的早期研究成功地 开发使用高转矩无刷电机的直接驱动臂。 最大速度和加速度达到10米/秒和5G 分别比现有的快一个数量级 机器人 该补助金涉及的研究问题包括 高性能伺服控制技术的发展， 分析手臂的动力学特性，高速高精度 采用非线性反馈/前馈的轨迹控制 补偿。 需要解决的其他研究问题包括 建模和控制系统设计，硬件实现， 扭矩/力控制应用软件开发。 保华计划的目标是为 全国最杰出、最有前途的青年科学家和 工程系。 该奖项旨在提高 美国学术机构应对需求的能力 为高素质的科学家和工程师提供学术和 工业研究和教学。 根据这两项 目标，总统青年研究者奖博士Youcef- 推荐Toumi。 这是一个连续五年的奖项。 年度资金将 按基数25 000美元计算，最多可追加37 500美元， 获得了产业配套支持。