SBIR Phase I: A Pneumatically Actuated Robot System

SBIR 第一阶段：气动机器人系统

• 批准号: 1047218
• 负责人: Michael Kriegsmann
• 金额: $ 15万
• 依托单位: Sunstream Scientific Incorporated
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2011
• 资助国家: 美国
• 起止时间: 2011-01-01 至 2011-12-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1047218&HistoricalAwards=false
• 关键词: SBIR; Phase; Pneumatically; Actuated; Robot

This Small Business Innovation Research (SBIR) Phase I project addresses the challenges of a decade's long unresolved technological barrier preventing a revolutionary increase in the performance of robotic systems. Enhanced productivity sought in many applications requires higher cycle rates placing great demands on robot kinematics, actuators and control systems. Further increase in operating speed must resolve dynamic challenges intrinsic in directly coupling servo actuators and robot linkages. When compared with existing electromechanical servo actuators - which route power through complex mechanical transmissions - direct-drive actuation of robot linkages enables simple mechanics and rapid motion, but does not provide dynamic isolation between the actuator and robot system. Consequently, direct-drive servo actuators are sensitive to variations in plant parameters, unknown disturbances, and un-modeled dynamics. This R&D investigates the feasibility of an innovative, direct-drive pneumatic robot actuator coupled with advanced control algorithms which rapidly accommodate dynamic system variations. Effectiveness of a new control strategy that is model insensitive, resolving unknown disturbances, un-modeled dynamics, and unknown system parameters, will be researched and developed. Success of this project will provide for a parallel delta robot that is significantly faster, more precise, possesses greater load capacity, and is substantially more affordable than contemporary delta robot systems. The broader impact/commercial potential of this project involves engineering research conducted to enhance understanding of the dynamic interaction between direct-drive servo actuators and robotic mechanisms, and further to enhance the effectiveness and understanding of a novel control strategy which provides for an advantageous coupling between them, heretofore not practically feasible. This has the potential of introducing transformative change in the robotics industry, and to industrial automation in general. Furthermore, much of the controls knowledge gained from this research can be extended to systems employing AC linear motors, and to electromechanical servos with mismatched inertia ratios. Two market segments will be targeted: robotics and general motion control, both estimated at $7 billion. If software, peripherals and systems engineering are included, the robotics market is estimated at $19 billion. Parallel delta robots are estimated at 25% of the robotics market. The robotics industry significantly supports the national economy with applications ranging from manufacturing and food processing, to medical advances such as remotely controlled surgery, and to national defense. Well paying new hi-tech jobs are created in engineering and technical services. This research will develop revolutionary new robotic applications, educational STEM opportunities, enhanced scientific and technological understanding, making the U.S. more competitive globally.

这个小型企业创新研究(SBIR)第一阶段项目解决了长达十年的悬而未决的技术障碍的挑战，阻碍了机器人系统性能的革命性提高。在许多应用中寻求提高生产率需要更高的循环速率，这对机器人运动学、执行器和控制系统提出了很高的要求。运行速度的进一步提高必须解决直接耦合伺服执行器和机器人连杆机构所固有的动态挑战。与通过复杂的机械传动传递能量的现有机电伺服执行器相比，机器人连杆的直接驱动执行器可以实现简单的机械和快速运动，但不能在执行器和机器人系统之间提供动态隔离。因此，直接驱动伺服执行器对对象参数的变化、未知干扰和未建模的动态都很敏感。这一研发旨在研究一种创新的、直接驱动的气动机器人执行器的可行性，这种执行器与先进的控制算法相结合，能够快速适应动态系统的变化。将研究和开发一种新的控制策略的有效性，这种控制策略是模型不敏感的，可以解决未知扰动、未建模动态和未知系统参数。该项目的成功将提供一种平行的德尔塔机器人，它比当代的德尔塔机器人系统更快、更精确、具有更大的承载能力，而且价格更实惠。该项目更广泛的影响/商业潜力包括进行工程研究，以加强对直接驱动伺服执行器和机器人机构之间的动态相互作用的了解，并进一步加强对提供两者之间有利耦合的新控制策略的有效性和理解，这在实践中是不可行的。这有可能给机器人行业乃至整个工业自动化带来变革性的变化。此外，从这项研究中获得的许多控制知识可以扩展到使用交流直线电机的系统，以及具有不匹配惯性比的机电伺服系统。两个细分市场将被瞄准：机器人和一般运动控制，估计这两个市场的价值都是70亿美元。如果将软件、外围设备和系统工程包括在内，机器人市场估计价值190亿美元。据估计，平行德尔塔机器人占机器人市场的25%。机器人产业通过从制造和食品加工到远程控制手术等医学进步以及国防等领域的应用，极大地支持了国民经济。在工程和技术服务业创造了高薪的新的高科技工作岗位。这项研究将开发革命性的新机器人应用，教育STEM机会，增强对科学和技术的理解，使美国在全球更具竞争力。