Research Initiation Award: Modular Singularity-Free Manipulation Systems

研究启动奖：模块化无奇点操纵系统

• 批准号: 9309461
• 负责人: Gregory Long
• 金额: $ 9万
• 依托单位: University of California-Irvine
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 1993
• 资助国家: 美国
• 起止时间: 1993-09-01 至 1996-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9309461&HistoricalAwards=false
• 关键词: Research; Initiation; Award; Modular; Singularity

9309461 Long This research is for the development of a family of joints called kinematic modules, which are singularity free and provide three Cartesian degrees of freedom for a terminal link. Singularity avoidance is achieved by the use of redundant actuators, the redundancy also being potentially useful for obstacle avoidance and fault tolerant manipulation. Screw theory is used as the analytical tool to characterize screw groups, and is complemented by notions from group theory and algebraic surfaces. Fuzzy inference techniques are used to assist in actuator selection and partitioning. Kinematic modules such as those described above can be configured into machines optimized for specific applications. Potential applications include hazardous waste removal, building construction, space and undersea exploration, and rehabilitative aids for the handicapped.

小行星9309461 这项研究是一个家庭的关节称为运动模块，这是奇异自由，并提供三个笛卡尔自由度的终端链接的发展。奇异避免是通过使用冗余致动器，冗余也是潜在的避障和容错操作有用的。 螺旋理论是用来作为分析工具来表征螺旋群，并补充了群论和代数曲面的概念。 模糊推理技术被用来协助在致动器的选择和分区。 运动学模块，如上述那些可以配置到机器优化的具体应用。 潜在的应用包括危险废物清除、建筑、空间和海底勘探以及残疾人康复辅助设备。