SBIR Phase I: Robotic Surface Finishing

这个小型企业创新研究第一阶段项目将开发一种新的机器人体系结构，目标是高保真、力相关的任务。该项目将使用一种创新的2自由度机械手，结构轻巧，关节光滑，摩擦小。控制系统遵循通过触摸感知环境，通过用力执行工作的生物模型。该项目将通过建造一个简单的单元并尝试铸造金属部件通常所需的任务来测试机械手概念的有效性，例如研磨铸造过程中留下的多余材料以产生光滑的表面。成功的结果可以应用于更复杂的机械手，用于自动完成铸造、锻造和模压零件的精加工。这一概念还可以扩展到其他劳动密集型工业过程，这些过程对人们来说是困难和危险的。此外，它更自然的操作模式可以使它能够安全地与包括身体受损的人在内的人密切合作。潜在的商业应用包括加工零件的自动精加工，包括研磨、去毛刺、抛光和混合。自动装配紧密装配的部件。机器人可以近距离工作，并为人类劳动者和身体受损的人提供帮助。

This Small Business Innovation Research Phase I project will develop a new robot architecture targeting fine-fidelity, force dependent tasks. The project will use an innovative 2 degree-of-freedom manipulator with lightweight construction and smooth, low friction joints. The control system follows the biological model of sensing the environment by touch and performing work by applying force. The project will test the validity of a manipulator concept by constructing a simple unit and attempting a task commonly required of cast metal parts, such as grinding excess material left by the casting process to produce a smooth surface. Successful results can be applied to more sophisticated manipulators for automating the finishing of cast, forged, and molded parts. The concept can also be extended to other labor intensive industrial processes that are difficult and hazardous for people to perform. Further, its more natural mode of operation could permit it to safely work in close concert with people, including the physically impaired. The potential commercial applications include automated finishing of fabricated parts, including grinding, deburring, polishing, and blending. Automated assembly of closely fitting parts. Robots that can work in close proximity, and provide assistance to, human laborers as well as the physically impaired.