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.

这项合作研究补助金的研究目标是创造能力，为空间组装任务设计新的和创新的设备。 该研究将产生一种设计方法，以创建低自由度的机器，称为部分定向设备，能够产生空间轨迹和重新定向。 这些零件定向设备为解决装配任务提供了一种替代方案，否则可能需要机器人或多个单自由度机构。 这项研究将全面解决部分定向装置的设计，包括：（1）他们的运动合成，（2）创建一个交互式计算机辅助设计工具，（3）原型设计，驱动和控制这些设备的指南和工具。 本研究的成果将是新的理论和知识，将使设计师能够创建新的设备进行空间装配任务。如果成功，这个项目将导致在设计设备的最新技术水平，以执行自动化空间装配任务的重大贡献。 目前，当产品沿着自动化装配线前进时，产品及其组成部件都被拾取、重新定向并插入到夹具中。 为了降低成本，装配线设计师试图使这些操作尽可能简单。 优选绕垂直或水平轴旋转，通常为90或180度。 这些任务有一套行之有效的解决方案。 然而，装配任务通常本质上是三维的，这些空间装配任务需要更复杂的解决方案。 此外，对物体轨迹的附加约束（例如，避免碰撞或零件网格化）进一步增加了这些任务的复杂性。 有两个主要的范式来寻找解决方案，这样的空间组装任务。 一端是复杂且昂贵的多自由度机器人系统，另一端是简单的单自由度装置（例如铰链和滑块）的特设装配。 作为这项研究的结果，设计师将有另一个可行的选择，一个全新的设备来实现空间装配任务。 与现有技术相比，这些新的部件定向装置将降低成本并提高可靠性。 该项目的成功完成将为设计人员提供一套新的方法，技术和工具来设计和实施这些新的低自由度的部分定向装置的空间装配任务。