MRI: Design and Development of a Testbed for a New Generation of Robots for Human Environments

MRI：设计和开发用于人类环境的新一代机器人的测试台

• 批准号: 9977717
• 负责人: Oussama Khatib
• 金额: $ 46.96万
• 依托单位: Stanford 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 2004-02-29
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9977717&HistoricalAwards=false
• 关键词: MRI; Design; Development; Testbed; New

EIA-9977717Khatib, OussamaRoth, BernardStanford UniversityMRI: Design and Development of a Testbed for a New Generation of Robots for Human EnvironmentsThe goal of this project is to develop a testbed for safe, compliant, and compact robotic arms suitable for the emerging generation of robots destined to operate in human environments. The PI's propose to design and develop a manipulation system that will be conceived from the start to satisfy the requirements and needs for operating in human environments. This human-centered manipulation system will be a two-arm structure connected to a common torso mounted on a mobile platform. Each arm will be a redundant mechanism with seven degrees of freedom. The arms will be lightweight structures, with low effective mass and inertia, and will use energy absorbing surfaces. The actuation of joints will be based on a novel and compact arrangement that uses three motors for two degrees of freedom joint mechanization. This yields a modular pitch-roll kinematics for the shoulder, elbow, and wrist joints. The requirements for the integration of two arms with the self-contained platform is also an important aspect in this design. Reliability, low cost, clean and quite operations will also be among the characteristics addressed in this project.

EIA-9977717 Khatib，OussamaRoth，Bernard斯坦福大学MRI：人类环境下新一代机器人试验台的设计和开发该项目的目标是开发一个安全、兼容和紧凑的机器人手臂试验台，适用于即将出现的在人类环境中工作的机器人。 PI建议设计和开发一个操纵系统，从一开始就考虑满足在人类环境中操作的要求和需求。 这种以人为中心的操纵系统将是一个双臂结构，连接到一个共同的躯干安装在一个移动的平台。每个臂将是具有七个自由度的冗余机构。这些臂将是轻质结构，具有低有效质量和惯性，并将使用能量吸收表面。 关节的驱动将基于一种新颖而紧凑的布置，该布置使用三个电机进行两个自由度的关节机械化。 这将为肩关节、肘关节和腕关节生成模块化俯仰-滚转运动学。双臂与独立平台的集成要求也是本设计的一个重要方面。可靠性、低成本、清洁和安静的操作也将是该项目所涉及的特征之一。