Analysis, Synthesis and Control for General Parallel Robotic Systems

通用并行机器人系统的分析、综合与控制

• 批准号: 9820709
• 负责人: John Wen
• 金额: $ 21.06万
• 依托单位: Rensselaer Polytechnic Institute
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 1999
• 资助国家: 美国
• 起止时间: 1999-09-01 至 2003-05-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9820709&HistoricalAwards=false
• 关键词: Analysis; Synthesis; Control; General; Parallel

Abstract IIS-9820709Wen, JohnRensselaer Polytechnic Institute$64,414 - 12 mos.Analysis, Synthesis and Control for General Parallel Robotic SystemsThis is the first year funding of a three year continuing award. Parallel mechanisms offer superior rigidity and load to weight ratio than their serial counterparts. When properly designed, they can even achieve relatively large work space. Some robot and machine designs have taken advantage of this fact, for example, Gough/Stewart Platform, truss robot, hexapod machining center, etc. The goal of this research is to develop a systematic approach to the analysis, synthesis, and control for general parallel robotic systems through the recently developed velocity and force manipulability characterization and metric on manipulability ellipsoids. Particular focus of this research is on the systematic modification of parallel robots and its manipulability through the addition ofactuators and/or kinematic constraints. Quantitative measures of compatibility between specified tasks and robot configurations will be developed based on velocity and force manipulability ellipsoids. These performance metrics will be used to guide the design ofmechanism modification. An important issue that will be addressed in this research is the translation of the robot task specification to desired manipulability ellipsoid and appropriate ellipsoid metric. As simulation and experimental examples, this research will draw on multiple cooperative manipulators, truss type of parallel mechanisms,and a new parallel machining center developed by the Seoul National University.

摘要IIS-9820709文，约翰伦斯勒理工学院$64,414 - 12月。分析，综合和控制一般并联机器人系统这是第一年的资金，为期三年的连续奖励。并联机构比串联机构具有上级刚度和负载重量比。 如果设计得当，它们甚至可以实现相对较大的工作空间。 一些机器人和机器的设计已经利用了这一事实，例如，高夫/斯图尔特平台，桁架机器人，六足加工中心等，本研究的目标是开发一个系统的方法来分析，综合和控制一般并联机器人系统通过最近开发的速度和力的可操作性表征和度量可操作性椭球。本研究的特别重点是通过添加ofactuators和/或运动学约束的并联机器人及其可操作性的系统修改。指定的任务和机器人配置之间的兼容性的定量措施将开发速度和力的可操作性椭球的基础上。这些性能指标将用于指导机制修改的设计。 在这项研究中，将解决的一个重要问题是机器人的任务规范所需的可操作性椭球和适当的椭球度量的翻译。 作为模拟和实验的例子，本研究将借鉴多个合作的机械手，桁架型并联机构，和一个新的并联加工中心开发的首尔国立大学。