Sensors: Sensing Rich Drive Trains for Modern Mechatronic Systems

摘要：Masayoshi Tomizuka（美国加州大学伯克利分校）：本研究开发了基于重传感的机械系统传动系统的机电一体化设计方法。一个典型的传动系统包括一个执行器（电动机），一组齿轮，轴承和一个惯性负载（链接），它可以连接到另一个传动系统或末端执行器。本研究的技术目标是：1)研究传动系统中各种信号的传感，特别是那些在传统实践中没有使用的信号，如加速度信号、传动系统中的力信号和末端执行器的位置；2)开发信号处理和决策算法，利用传感信号来改善性能和其他机械优势；3)通过实验证明这些好处。新的信号处理和决策算法将处理传动系机构中的非线性和不确定性，以及传动系和整个机械系统运行的环境。这将为机械系统的生产者和最终用户带来优势，例如机器人、装配机和其他制造设备。更广泛的影响将来自教育、外联和国际合作。项目团队包括首席研究员、研究生研究员和本科生研究员。本科学生将通过参与实验和机电一体化设计来参与这个项目。这是一个传感器合同，招标编号NSF 05-526。

AbstractCMS-0529451PI: Masayoshi Tomizuka (University California, Berkeley)This research develops mechatronic approaches to the design of drive trains for mechanical systems based on heavy sensing. A typical drive train includes an actuator (electrical motor), a set of gears, bearings and an inertia load (link), which may be connected to another drive train or an end effecter. The technical objectives of the research are to 1) study sensing of various signals in the drive train, in particular, those not utilized in conventional practice such as acceleration signals, force signal in the drive train and end effector's position, 2) develop signal processing and decision making algorithms that take advantages of the sensed signals for betterment of performance and other mechatonic advantages, and 3) demonstrate these benefits experimentally. New signal processing and decision making algorithms will handle nonlinearities and uncertainties in drive train mechanisms as well as the environment in which drive trains and entire mechanical systems operate. This will bring advantages to both producers and end users of mechanical systems, e.g. robots, assembly machines and other manufacturing equipment. The broader impacts will be from education, outreach and international collaboration. The project team includes the Principal Investigator, graduate student researchers and undergraduate researchers. Undergraduate students will be involved in this project through participation in experiments and mechatronics design. This is a sensor award under the solicitation NSF 05-526.