Collaborative Research: Part Orienting Devices (PODs) - Novel Devices for Spatial Assembly Tasks

协作研究：零件定向设备 (POD) - 用于空间装配任务的新型设备

• 批准号: 0422731
• 负责人: Andrew Murray
• 金额: --
• 依托单位: University of Dayton
• 依托单位国家: 美国
• 项目类别: Continuing Grant
• 财政年份: 2004
• 资助国家: 美国
• 起止时间: 2004-08-01 至 2008-07-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=0422731&HistoricalAwards=false
• 关键词: Collaborative; Research; Part; Orienting; Devices

The research objective of this collaborative research grant is to create the capability to design new and innovative devices for spatial assembly tasks. The research will produce a design methodology to create low degree of freedom machines, termed part-orienting devices, capable of producing spatial trajectories and reorientations. These part-orienting devices provide an alternative for solving assembly tasks that might otherwise require a robot or multiple single degree of freedom mechanisms. This research will comprehensively address the design of part-orienting devices including: (1) their kinematic synthesis, (2) the creation of an interactive computer-aided design tool, and (3) guidelines and tools for prototyping, actuating, and controlling these devices. The result of this research will be new theories and knowledge that will enable designers to create novel devices for spatial assembly tasks.If successful, this project will result in significant contributions to the state of the art in designing devices to perform automated spatial assembly tasks. Currently, as a product advances down an automated assembly line, both the product and its component piece parts are picked-up, reoriented, and inserted into subassemblies or fixtures. To reduce costs, assembly line designers try to keep these manipulations as simple as possible. Rotations about vertical or horizontal axes are preferred, often of 90 or 180 degrees. These tasks have a well-established set of efficient solutions. However, assembly tasks are often inherently 3-dimensional in nature and these spatial assembly tasks require more complex solutions. Moreover, additional constraints on the trajectory of the object (for example, collision avoidance or part meshing) further increase the complexity of these tasks. There exist two primary paradigms to finding solutions to such spatial assembly tasks. On the one end are complex and costly multi degree of freedom robotic systems and on the other is an ad hoc assemblage of simple one degree of freedom devices such as hinges and sliders. As a result of this research, designers will have another viable option, a completely new class of devices to realize spatial assembly tasks. These new part-orienting devices will yield reduced costs and increased reliability with respect to the existing technologies. Successful completion of this project will provide designers with a set of new methodologies, techniques, and tools to design and implement these new low degree of freedom part-orienting devices for spatial assembly tasks.

这项合作研究赠款的研究目标是创建能够为空间组装任务设计新的创新设备。 这项研究将产生一种设计方法，以创建低自由机器，称为部分定向设备，能够产生空间轨迹和重新定位。 这些零件方向的设备为解决汇编任务提供了替代方案，否则可能需要机器人或多个单一自由机制。 这项研究将全面介绍零件方向设备的设计，包括：（1）它们的运动学合成，（2）创建交互式计算机辅助设计工具，以及（3）用于原型，致命和控制这些设备的原型和原始设备的指南和工具。 这项研究的结果将是新的理论和知识，它将使设计师能够为空间组装任务创建新颖的设备。 当前，随着产品的前进，产品及其组件零件都被拾取，重新定向并插入子组件或固定装置。 为了降低成本，组装线设计人员试图使这些操作尽可能简单。 优选垂直或水平轴的旋转，通常为90或180度。 这些任务具有完善的有效解决方案。 但是，组装任务通常本质上是三维本质上的，这些空间组装任务需要更复杂的解决方案。 此外，对对象轨迹的其他约束（例如，避免碰撞或部分网络）进一步增加了这些任务的复杂性。 有两个主要的范式可以找到解决此类空间组装任务的解决方案。 一方面是复杂且昂贵的多个自由机器人系统，另一端是简单一度自由设备（例如铰链和滑块）的临时组合。 这项研究的结果是，设计师将有另一个可行的选择，这是一个全新的设备，可以实现空间组装任务。 这些新的面向零件的设备将对现有技术产生降低的成本和可靠性。 该项目的成功完成将为设计师提供一组新的方法，技术和工具，以设计和实施这些新的低度自由度零件方向设备，以实现空间组装任务。