Analysis, Synthesis and Control for General Parallel Robotic Systems

摘要：文，约翰伦斯勒理工学院64,414 - 12美元。通用并联机器人系统的分析、综合和控制这是一项为期三年的持续奖励的第一年资助。并行机制提供优越的刚度和负载重量比串行同行。当设计得当,他们甚至可以实现较大的工作空间。一些机器人和机械设计利用了这一特点，如高夫/斯图尔特平台、桁架机器人、六足加工中心等。本研究的目的是通过最近发展的速度和力的可操纵性表征和可操纵性椭球体的度量，为一般并联机器人系统的分析、综合和控制提供一种系统的方法。本研究的重点是通过增加因子和/或运动学约束对并联机器人及其可操控性进行系统修改。定量措施的指定任务和机器人之间的兼容性配置开发基于速度和可操纵性椭圆体。这些性能指标将用于指导机制修改的设计。将机器人任务规范转换为期望的可操作性椭球体和适当的椭球度量是本研究要解决的一个重要问题。作为仿真和实验实例，本研究将利用多协作机械手、桁架型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.