Application of Parallel Link Manipulators in the High Speed, High Accuracy Domain

并联机械手在高速高精度领域的应用

• 批准号: 8821640
• 负责人: Leonard Haynes
• 金额: $ 22.49万
• 依托单位: Intelligent Automation, Inc
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1989
• 资助国家: 美国
• 起止时间: 1989-08-01 至 1992-01-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=8821640&HistoricalAwards=false
• 关键词: Application; Parallel; Link; Manipulators; Speed

This research focuses on the feasibility of using parallel link manipulators for high speed, high precision six axis positioning applications such as mirror pointing, surface finishing, machining, and robotic manipulation. A first phase research effort has successfully demonstrated that the Stewart Platform type of parallel link manipulator is feasible and has significant advantages over conventional serial link mechanisms. The current phase of research, comprising seven tasks, addresses the building of a prototype machine tool for finishing operations on aircraft turbine engine blades. The first research task evaluates the benefits of the "moving bearing point" platform design and determines whether it or the conventional platform concept should be adopted for further study. The "moving bearing point" design is one in which the actuator supplying force does not move as the platform moves. Task two involves building a functioning machine capable of performing the operations required for jet engine blade finishing. Task three calls for implementing the feedforward controller developed in the first phase of research. Task four focuses on experimentally measuring system performance and optimizing the controller design. Task five activity will test the system developed in the previous tasks and assess its ability to perform the finishing operations on aircraft turbine engine blades. Task six extends the system testing to other types of parts. Task seven examines another platform modification which involves the use of piezoelectric elements to achieve high precision, high frequency motion. The intent is to follow up phase two work with a phase three effort oriented toward producing commercial versions of the system developed in phase two. The impact of this work will be on the machine tool industry where innovative concepts which can reduce costs and improve quality are clearly needed.

本研究主要探讨使用平行连结的可行性 用于高速、高精度六轴定位的机械手 例如镜面指向，表面精加工， 机械加工和机器人操作。 第一阶段研究 努力已经成功地证明，斯图尔特平台 这种并联机构是可行的，具有重要意义 与传统的串行链路机制相比， 当前 研究阶段，包括七个任务，解决建设 一台用于飞机精加工的机床样机 涡轮机发动机叶片。 第一个研究任务是评估 “移动支承点”平台设计的好处， 确定它或传统平台概念是否应该 供进一步研究。 “移动支点”设计 其中致动器供应力不随着 平台移动。 任务二涉及建立一个功能 能够进行喷气所需操作的机器 发动机叶片精加工 任务三要求执行 前馈控制器在研究的第一阶段开发。 任务四侧重于实验测量系统性能 并优化控制器设计。 任务五活动将 测试在以前的任务中开发的系统，并评估其 对飞机涡轮机进行精加工的能力 发动机叶片。 任务六将系统测试扩展到其他 零件的类型。 任务七检查另一个平台 修改涉及使用压电元件， 实现高精度、高频率的运动。 目的是在第二阶段工作之后， 致力于生产商业版本的 系统在第二阶段开发。 这项工作的影响将是 机床行业的创新概念， 显然需要降低成本和提高质量。