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

EIA-9977717Khatib，OussamaRoth，BernardStanford University MRI：设计和开发用于人类环境的新一代机器人试验台本项目的目标是开发一种适合于注定要在人类环境中操作的新一代机器人的安全、顺应和紧凑的机械臂试验台。PI建议设计和开发一个操作系统，该系统将从一开始就构思以满足在人类环境中操作的要求和需要。这个以人为中心的操作系统将是一个连接到安装在移动平台上的公共躯干的双臂结构。每个手臂将是一个具有七个自由度的冗余机构。手臂将是轻质结构，有效质量和惯性较小，并将使用能量吸收表面。关节的驱动将基于一种新颖和紧凑的安排，使用三个电机来实现两个自由度的关节机械化。这为肩部、肘部和手腕关节产生了模块化的俯仰侧滚运动学。两臂与自给式平台相结合的要求也是本次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的特点之一。

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.