SBIR Phase I: A Force Responsive Robotic Manipulator

*9760212 SOMES这个小型企业创新研究第一阶段项目将研究一种新的机器人架构，以实现高性能的力量响应。目前机器人的实用化受到环境作用力控制能力较低的阻碍。对人类来说微不足道的操作(转动曲柄、组件的卡扣组装、抛光表面)超出了目前机器人的能力。错误不在于对机械装置的控制不当，而在于机械装置本身的动力学所造成的基本性能限制。一种新型的电缆驱动变速器在一些精选的定位应用中表现出了出色的动态性能，但在力控制任务中尚未得到证实。它的大包络阻碍了与许多机械系统的集成。第一阶段将评估电缆驱动变速器产生高性能、有保证的稳定力控制的能力。新的配置将被研究，利用驱动器在机器人操作器中的实际实施。计算了概念机械手的预期性能，并与现有机器人进行了比较。这项研究的成功将应用于单轴扭矩控制机制，并对接近人类水平的力控制能力的多自由度机器人产生影响。预计将在以下方面实现商业应用：卷筒纸加工应用中的卓越张紧机构；成品零件的自动精加工，包括研磨、去毛刺、抛光和混合；以及紧密装配部件的自动组装。可以近距离工作并为包括身体残障人士在内的人类劳动者提供帮助的机器人也有望带来好处。

*** 9760212 Somes This Small Business Innovation Research (SBIR) Phase I project will investigate a new robot architecture for high-performance force responsiveness. Current robot utility is hampered by low ability to control environmental interaction forces. Operations trivial for humans (turning a crank, snap assembly of components, polishing a surface) are beyond current robot capabilities. The fault lies not in poor control of mechanisms, but in fundamental performance limitations imposed by the dynamics of mechanisms themselves. A new cable drive transmission has demonstrated outstanding dynamic properties in a few select positioning applications, but it is unproved in force control tasks. Its large envelope inhibits integration with many mechanical systems. Phase I will evaluate the cable drive transmission for its capacity to produce high-performance, guaranteed stable force control. Novel configurations will be studied employing the drive for their practical implementations in robotic manipulators. The expected performance of the conceptual manipulators will be calculated and compared with existing robots. Success in this research will apply towards single axis, torque-control mechanisms, with implications for multiple degree-of-freedom robots approaching human-level force control capability. Commercial applications are expected in: superior tensioning mechanisms in web processing applications; automated finishing of fabricated parts, including grinding, deburring, polishing, and blending; and automated assembly of closely fitting components. Benefits are also expected in robots that can work in close proximity and provide assistance to human laborers, including the physically impaired.