Analysis, Synthesis and Control for General Parallel Robotic Systems

摘要IIS-9820709wen，约翰伦斯勒理工学院，64,414-12万美元。通用并联机器人系统的分析、综合和控制这是连续三年的奖项的第一年资助。与串联机构相比，并联机构具有更高的刚性和负载重量比。如果设计得当，它们甚至可以实现相对较大的工作空间。一些机器人和机器设计已经利用了这一事实，例如Gough/Stewart平台、桁架机器人、六足加工中心等。本研究的目标是通过最近发展的速度和力可操作性表征和可操作性椭球的度量，开发一种系统的方法来分析、综合和控制一般并联机器人系统。这项研究的重点是通过增加作业器和/或运动学约束来系统地修改并联机器人及其可操作性。将根据速度和力的可操作性椭球来开发特定任务和机器人配置之间的兼容性的定量测量。这些性能指标将用于指导机构修改的设计。这项研究中要解决的一个重要问题是将机器人任务规范转换为期望的可操作性椭球和适当的椭球度量。作为仿真和实验实例，本研究将采用多个协作机械手、桁架式并联机构和首尔国立大学开发的新型并联加工中心。

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.