Japan STA Program: Kinematics and Calibrations of Parallel-Link Manipulators

日本 STA 项目：并联机械手的运动学和校准

• 批准号: 9120186
• 负责人: Charles Wampler
• 金额: $ 0.66万
• 依托单位: General Motors Research Lab
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1992
• 资助国家: 美国
• 起止时间: 1992-07-01 至 1993-12-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9120186&HistoricalAwards=false
• 关键词: Japan; STA; Program; Kinematics; Calibrations

Japan STA Program: Kinematics and Calibrations of Parallel-Link Manipulators This award will provide supplementary support to enable Dr. Charles Wampler of General Motors Research Laboratories to conduct collaborative research with Dr. Tatsuo Arai for 6 months at the Mechanical Engineering Laboratory in Tsukuba, Japan. They will utilize the forward kinematic control algorithms Wampler has developed to test a prototype parallel-link manipulator robot Dr. Arai designed and built. The Stewart platform, a parallel-link manipulator, has mainly been used for aircraft simulators and similar applications since the mid 1980's. Dr. Arai has designed and built a prototype Stewart- platform manipulator for use in underground excavation. Excavation requires the manipulator to exert large forces, and in order to optimize the manipulator's ability to exert such forces, a seventh serial-link leg was added to the center of Arai's manipulator, effectively reducing the size of workspace. Dr. Wampler proposes to develop a way to eliminate the seventh leg by adding extra joints and instrumentation to the original six legs, to calibrate the robot with six legs, then to test their theoretical work on Dr. Arai's robot. Dr. Arai's expertise in robotics, particularly the parallel-link manipulator, complements Dr. Wampler's experience in kinematics of manipulators and numerical solution of polynomial systems. This collaborative research will provide Wampler with first-hand knowledge of leading-edge Japanese research in robotics.

日本STA计划：测量和校准光纤链路 操纵器 该奖项将提供补充支持，使博士。 通用汽车研究实验室的查尔斯·万普勒， 与新井达雄博士合作研究6个月， 机械工程实验室在日本筑波。 他们 将利用Wampler的正向运动控制算法， 开发测试原型并联连杆机械手机器人博士。 Arai设计和建造。 Stewart平台是一种平行连杆机械手，主要用于 用于飞机模拟器和类似的应用，因为中期 80年代 新井博士设计并制造了一个原型斯图尔特- 用于地下挖掘的平台机械手。 挖掘需要操纵器施加很大的力，并且在 为了优化操纵器施加这种力的能力， 第七个串行链路腿被添加到新井的中心 机械手，有效地减少了工作空间的大小。 博士 Wampler建议开发一种方法来消除第七条腿， 在原来的六条腿上增加额外的关节和仪器， 对六足机器人进行标定，然后对理论工作进行验证 新井博士的机器人 新井博士在机器人方面的专业知识， 平行连杆机械手，补充了万普勒博士的 具有机械手运动学和数值求解的经验， 多项式系统 这项合作研究将提供 Wampler拥有第一手的日语知识 研究机器人。