Scalable Direct Drive Robots

可扩展的直接驱动机器人

• 批准号: 9421621
• 负责人: Richard Wallace
• 金额: $ 8万
• 依托单位: New York University
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 1995
• 资助国家: 美国
• 起止时间: 1995-06-15 至 1996-12-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9421621&HistoricalAwards=false
• 关键词: Scalable; Direct; Drive; Robots

This research explores the scaling-down of direct-drive actuator technology previously developed by the PI. The prior efforts involved theoretical electrodynamics models of generalized EM actuators based on screw theory, and led to the development of miniature, high-torque spherical camera-pointing motors. The goal of the current project is to adapt the theory and magnetic technology to several robotic actuator applications at millimeter and submillimeter scales, This involves a combination of simulations and theoretical investigations of scaling properties and dynamics, development of a series of experimental devices to serve as testbeds for the ideas, and exploration of several medical and telerobotic applications of such miniaturization through research collaborations and corporate partnerships. The research results will be disseminated through multimedia, including publication in mathematical hypertext and access to experimental robots through the World-Wide Web. The plan is to publish the designs and details of experimental prototypes so that researchers are be able to access our files and produce exact copies of the devices.

这项研究探讨了缩小规模的直接驱动致动器技术以前开发的PI。 先前的努力涉及基于螺旋理论的广义EM致动器的理论电动力学模型，并导致了微型，高扭矩球形摄像机指向电机的发展。 当前项目的目标是使理论和磁技术适应毫米和亚毫米尺度的几种机器人致动器应用，这涉及到缩放特性和动力学的模拟和理论研究的结合，开发一系列实验装置作为这些想法的试验台，并通过研究合作和企业伙伴关系探索这种小型化的几种医疗和远程机器人应用。 研究结果将通过多媒体传播，包括以数学超文本形式发表，并通过万维网访问实验机器人。 我们的计划是公布实验原型的设计和细节，以便研究人员能够访问我们的文件并制作设备的精确副本。