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

日本STA项目：该合同将为通用汽车研究实验室的Charles Wampler博士与Tatsuo Arai博士在机械工程实验室进行为期6个月的合作研究提供补充支持在日本筑波。他们将利用Wampler开发的正运动学控制算法来测试新井博士设计和制造的并联机械臂机器人原型。Stewart平台是一种并联机械手，自20世纪80年代中期以来主要用于飞机模拟器和类似应用。新井博士设计并制造了一个用于地下挖掘的Stewart- platform机械手原型。挖掘需要机械手施加较大的力，为了优化机械手的受力能力，在Arai机械手的中心增加了第七个串行连杆腿，有效地减小了工作空间的大小。Wampler博士建议开发一种方法，通过在原来的六条腿上增加额外的关节和仪器来消除第七条腿，用六条腿校准机器人，然后在新井博士的机器人上测试他们的理论工作。Arai博士在机器人技术方面的专业知识，特别是并联机械手，补充了Wampler博士在机械手运动学和多项式系统数值解决方案方面的经验。这项合作研究将为Wampler提供日本机器人前沿研究的第一手知识。

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.