MRI: Acquisition of a Barrett Robot Hand System

MRI：获取 Barrett 机器人手系统

• 批准号: 9977310
• 负责人: Darren Dawson
• 金额: $ 13.24万
• 依托单位: Clemson University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1999
• 资助国家: 美国
• 起止时间: 1999-09-01 至 2002-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9977310&HistoricalAwards=false
• 关键词: MRI; Acquisition; Barrett; Robot; Hand

EIA-9977310Dawson, Darren M.Paul, Frank W.Clemson UniversityMRI: Acquisition of a Barrett Robot Hand SystemTo supplement the need for a sophisticated robotic test-bed used in ongoing and future research, this proposal requests funding for a Barrett Robot-Hand System. This robot allows a researcher to directly access and modify the sinusolidally commutated current amplifiers; hence, its open control architecture facilitates the design and development of advanced low-level position/force controllers for multiple degree of freedom robotic systems. More importantly, the multiple degrees of freedom and the end-effector mounted hand allow one to focus on specific dexterous manipulation problems. In addition, the requested system with its advanced, high-speed cable transmission system (peak velocity of 6 m/s and peak acceleration of 6 g's at the end-effector) facilitates high-speed manipulation.

EIA-9977310Dawson、Darren M.Paul、Frank W.Clemson 大学 MRI：收购 Barrett 机器人手系统 为了补充当前和未来研究中对复杂机器人测试台的需求，本提案要求为 Barrett 机器人手系统提供资金。 该机器人允许研究人员直接访问和修改正弦换向电流放大器；因此，其开放式控制架构有利于多自由度机器人系统的先进低级位置/力控制器的设计和开发。 更重要的是，多个自由度和安装在末端执行器上的手使人们能够专注于特定的灵巧操作问题。 此外，所要求的系统及其先进的高速电缆传输系统（末端执行器的峰值速度为 6 m/s，峰值加速度为 6 g）有利于高速操纵。