CAREER: New Research Directions for Parallel Manipulators -- Investigation of Redundant Actuation, Redundant Sensing and Static Balancing

职业：并联机械臂的新研究方向——冗余驱动、冗余传感和静态平衡研究

• 批准号: 9984279
• 负责人: Imme Ebert-Uphoff
• 金额: $ 20万
• 依托单位: Georgia Tech Research Corporation
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2000
• 资助国家: 美国
• 起止时间: 2000-07-15 至 2004-06-30
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9984279&HistoricalAwards=false
• 关键词: CAREER; New; Research; Directions; Parallel

Imme Ebert-Uphoff, Georgia Institute of Technology, 9984279CAREER: New Research Directions for Parallel Manipulators -Investigation of Redundant Actuation, Redundant Sensing andStatic BalancingToday's manufacturing industry faces many challenges in terms of accuracy, throughput and flexibility of the production line. While robots in a manufacturing environment are traditionally of a serial structure, parallel manipulators are emerging in many applications because they excel in the areas of accuracy, speed, rigidity and payload capacity.This CAREER proposal adopts an integrated research and education strategy centered on the advancement of parallel manipulators in the areas of accuracy, size of usable workspace, ease of use and energy efficiency. The research component investigates (1) the use of redundant actuation and compliant control schemes to eliminate singular configurations and thus to enlarge the usable region of the workspace, (2) the use of redundant sensing to simplify the real-time computations in the control algorithms and to increase the machine intelligence through continuous re-calibration, (3) the use of static balancing to make parallel manipulators more efficient. The educational component concentrates on (A) the development of web-based course-ware in form of "Virtual Parallel Manipulators", i.e. interactive graphical simulations of parallel manipulators;(B) the integration of parallel manipulators in the robotics curriculum at the undergraduate and graduate level through development of two new courses.The significance and impact of the proposed research and education strategy is three-fold: (1) The educational program is expected to facilitate a higher acceptance of parallel manipulators in industry, leading to better utilization of the high potential of parallel manipulators. (2) Immediate benefits for the manufacturing industry are expected through creation of robotic manipulators with higher performance characteristics than existing ones. (3) The research contributes to the long-term development of parallel manipulators by advancing the understanding of and theoretical framework for parallel manipulators.

Imme Ebert-Uphoff，格鲁吉亚理工学院，9984279职业：并联机器人的新研究方向-冗余驱动，冗余传感和静态平衡的研究今天的制造业面临着许多挑战，在精度，产量和生产线的灵活性方面。 制造环境中的机器人传统上是串联结构，而并联机器人在精度、速度、刚性和负载能力等方面表现出色，因此在许多应用中正在兴起。本CAREER项目采用了以并联机器人在精度、可用工作空间大小、易用性和能源效率等方面的进步为中心的综合研究和教育战略。研究部分调查（1）使用冗余驱动和顺应控制方案，以消除奇异配置，从而扩大工作空间的可用区域，（2）使用冗余传感，以简化控制算法的实时计算，并通过连续重新校准，以增加机器的智能，（3）使用静态平衡，使并联机械手更有效。 教育部分的重点是（A）以“虚拟并联机械手”的形式开发网上课件，即并联机械手的互动图形模拟;（B）通过开发两门新课程，将并联机械手纳入本科生和研究生机器人课程。拟议的研究和教育战略的意义和影响有三个方面：（1）该教育计划有望促进并联机器人在工业中的更高接受度，从而更好地利用并联机器人的高潜力。 (2)制造业的直接利益，预计通过创建具有更高的性能特性比现有的机器人机械手。(3)通过对并联机器人的研究，加深了对并联机器人的认识，建立了并联机器人的理论框架，为并联机器人的长期发展奠定了基础。