SBIR Phase I: A Force Responsive Robotic Manipulator

这个小型企业创新研究（SBIR）第一阶段项目将研究一种新的高性能力响应机器人架构。目前机器人的应用受到控制环境相互作用力能力低的制约。对于人类来说微不足道的操作（转动曲柄、快速组装组件、抛光表面），目前的机器人都无法胜任。错误不在于对机构的控制不力，而在于机构本身的动力学所施加的基本性能限制。一种新的电缆驱动传动在一些选定的定位应用中显示出出色的动态特性，但在力控制任务中尚未得到证实。它的大外壳抑制了与许多机械系统的集成。第一阶段将评估电缆驱动传动的能力，以产生高性能，保证稳定的力控制。将研究采用该驱动器的新型构型，以实现其在机械臂中的实际应用。将计算概念机械手的预期性能，并与现有机器人进行比较。这项研究的成功将应用于单轴扭矩控制机构，对接近人类水平力控制能力的多自由度机器人具有重要意义。商业应用有望在：优越的张力机制在网页处理应用；加工零件的自动精加工，包括研磨、去毛刺、抛光和混合；以及紧密配合部件的自动化装配。可以近距离工作并为人类劳动者（包括身体受损的人）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.