SBIR Phase II: A Resilient and Underactuated Robotic Hand Capable of Both Power and Precision Grasping
SBIR 第二阶段:具有弹性和欠驱动的机械手,能够进行强力和精确的抓取
基本信息
- 批准号:1152562
- 负责人:
- 金额:$ 46.52万
- 依托单位:
- 依托单位国家:美国
- 项目类别:Standard Grant
- 财政年份:2012
- 资助国家:美国
- 起止时间:2012-04-01 至 2016-09-30
- 项目状态:已结题
- 来源:
- 关键词:
项目摘要
This Small Business Innovation Research Phase II project proposes a robotic hand based on a noveltorque-switching mechanism and patented miniature motor controllers. The mechanism actively channelsmotor torque along different transmission paths and enables dependant and independent (time-discreet)control of both finger joints in a robotic hand to perform both power and pinch grasps. There is a growingneed in industry for adaptable and flexible manufacturing capabilities in a dynamic environment. Industrygenerally uses single-axis grippers and end-effectors that are modified to pick up specific items in ahighly-controlled environment. This requires exchanging multiple customized and expensive grippers viatool-changers. This project?s goal is to produce a paradigm shift in the materials-handling industry byintroducing a highly flexible, affordable, and lightweight robotic gripper that can grasp and manipulateobjects of varying size, shape, and stiffness. The Phase-II project objectives are to design and develop aprototype 3-fingered gripper using a novel torque-switching mechanism, optimized motors, multiplefeedback sensors, and miniature control electronics, and to test and evaluate the prototype gripper in anindustrial setting. This program will result in a compact, lightweight, and affordable robotic hand capableof grasping and manipulating a large range of objects.The broader impact/commercial potential of this project addresses the shortcomings of gripper devicesavailable today which discourage the use of robotic systems, thereby undermining manufacturingproductivity. The proposed solution improves manufacturing competitiveness by enabling easier adoptionof robotic work cells in conventional markets such as light manufacturing and emerging markets such asthe food and beverage industry. The societal impact will be felt in the field of education where robotics isrecognized as a strategic motivator for children and young adults to enter into technical fields. Mostrobots are too large and dangerous to bring into a classroom. The proposed robotic hand will be veryportable, safe, and exciting for both educators and students. A significant increase in gripper dexterity will make it an even more attractive motivator in the classroom and other secondary educational programs andworkshops. A potential secondary application for this innovation is a more dexterous and lightweighthand prosthesis which could have a major societal impact. Finally, the ability to transmit torque throughdifferent paths in a miniature package and allow control of different functions with a single small actuatorenables lightweight yet versatile machines and could have impacts beyond the field of robotics.
这个小企业创新研究的第二阶段项目提出了一个基于新颖转矩开关机构和专利微型电机控制器的机器人手。该机构主动引导电机扭矩沿着不同的传输路径,并使机械人手的两个手指关节能够进行依赖和独立(时间离散)的控制,以执行动力和捏握。工业对动态环境中适应性强、灵活的制造能力的需求日益增长。工业通常使用单轴抓手和末端执行器,它们经过修改,可以在高度控制的环境中拾取特定物品。这需要更换多个定制且昂贵的夹具。这个项目吗?我们的目标是通过引入一种高度灵活、价格合理、重量轻的机器人抓取器,在物料搬运行业产生一个范式转变,这种抓取器可以抓取和操纵不同尺寸、形状和刚度的物体。第二阶段的项目目标是设计和开发一个原型的三指夹持器,该夹持器使用一种新型的扭矩开关机构、优化的电机、多反馈传感器和微型控制电子设备,并在工业环境中测试和评估原型夹持器。该项目将生产出一种紧凑、轻便、价格合理的机器人手,能够抓取和操纵各种物体。该项目的广泛影响/商业潜力解决了目前可用的抓取装置的缺点,这些缺点阻碍了机器人系统的使用,从而降低了制造效率。提出的解决方案通过使机器人工作单元更容易在传统市场(如轻工制造业)和新兴市场(如食品和饮料行业)采用,提高了制造业的竞争力。社会影响将在教育领域感受到,机器人被认为是儿童和年轻人进入技术领域的战略动力。大多数机器人都太大太危险,不能带进教室。这款机器人手非常便携、安全,对教育工作者和学生来说都是令人兴奋的。抓手灵巧度的显著提高将使它在课堂和其他中学教育项目和研讨会上更具吸引力。这项创新的一个潜在的二次应用是制造一种更灵巧、更轻的假肢,这可能会对社会产生重大影响。最后,在一个微型封装中通过不同路径传递扭矩的能力,以及允许用一个小驱动器控制不同功能的能力,可实现轻量级但多功能的机器,并可能产生超出机器人领域的影响。
项目成果
期刊论文数量(0)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
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David Wilkinson其他文献
Whole system development ‐ rethinking public service management
整体系统开发——重新思考公共服务管理
- DOI:
10.1108/09513559710193336 - 发表时间:
1997 - 期刊:
- 影响因子:2.8
- 作者:
David Wilkinson - 通讯作者:
David Wilkinson
MAASTRICHT AND THE ENVIRONMENT: THE IMPLICATIONS FOR THE EC'S ENVIRONMENT POLICY OF THE TREATY ON EUROPEAN UNION
马斯特里赫特与环境:欧盟条约对欧盟环境政策的影响
- DOI:
10.1093/jel/4.2.221 - 发表时间:
1992 - 期刊:
- 影响因子:1.9
- 作者:
David Wilkinson - 通讯作者:
David Wilkinson
Human immunodeficiency virus associated tuberculosis more often due to recent infection than reactivation of latent infection.
与人类免疫缺陷病毒相关的结核病更多地是由于最近的感染而不是潜伏感染的重新激活。
- DOI:
- 发表时间:
2011 - 期刊:
- 影响因子:0
- 作者:
R. Houben;A. C. Crampin;Richard Ndhlovu;P. Sonnenberg;P. Godfrey;Walter Haas;G. Engelmann;C. Lombard;David Wilkinson;Judith Bruchfeld;Shahin Lockman;Shahin Lockman;J. Tappero;J. Glynn - 通讯作者:
J. Glynn
Can Galvanic Vestibular Stimulation Induce Lasting Relief from Hemi-Spatial Neglect?
- DOI:
10.1016/j.apmr.2014.07.056 - 发表时间:
2014-10-01 - 期刊:
- 影响因子:
- 作者:
Mohammed Sakel;David Wilkinson;Olga Zubko;Tracy Higgins;Patrick M. Pullicino;Simon Coulton;Emma Denby - 通讯作者:
Emma Denby
Incidence and Co-Occurrence of Spatial Neglect and Spasticity, A Prospective Multi-Centre Study
- DOI:
10.1016/j.apmr.2015.08.241 - 发表时间:
2015-10-01 - 期刊:
- 影响因子:
- 作者:
Mohammed Sakel;David Wilkinson;Shahidur Rahman;A.K.M. Salek;Moshiur Rahman Khasru - 通讯作者:
Moshiur Rahman Khasru
David Wilkinson的其他文献
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{{ truncateString('David Wilkinson', 18)}}的其他基金
Developmental Clinical Studies - Does Repeated Vestibular Stimulation Induce Lasting Recovery From Hemi-Spatial Neglect?
发育临床研究 - 重复前庭刺激是否会导致半侧空间忽视的持久恢复?
- 批准号:
G1001222/1 - 财政年份:2011
- 资助金额:
$ 46.52万 - 项目类别:
Research Grant
SBIR Phase I: A Resilient and Underactuated Robotic Hand Capable of Both Power and Precision Grasping
SBIR 第一阶段:具有弹性和欠驱动的机械手,能够进行强力和精确的抓取
- 批准号:
1014156 - 财政年份:2010
- 资助金额:
$ 46.52万 - 项目类别:
Standard Grant
The Cognitive Basis of Social Power
社会权力的认知基础
- 批准号:
ES/F034970/1 - 财政年份:2008
- 资助金额:
$ 46.52万 - 项目类别:
Research Grant
Gordon Research Conference: Complex Ceramic Microstructures: Properties by Design, Meriden, NH, August 4-9, 1996
戈登研究会议:复杂陶瓷微观结构:设计属性,新罕布什尔州梅里登,1996 年 8 月 4-9 日
- 批准号:
9627274 - 财政年份:1996
- 资助金额:
$ 46.52万 - 项目类别:
Standard Grant
Research on Gravitation, Relativity and Cosmology
万有引力、相对论和宇宙学研究
- 批准号:
9600015 - 财政年份:1996
- 资助金额:
$ 46.52万 - 项目类别:
Continuing Grant
Gravitation, Relativity and Cosmology
万有引力、相对论和宇宙学
- 批准号:
9222952 - 财政年份:1993
- 资助金额:
$ 46.52万 - 项目类别:
Continuing Grant
An Affordable CCD Camera System for Introductory Physics Laboratories
适用于入门物理实验室的经济实惠的 CCD 相机系统
- 批准号:
9351999 - 财政年份:1993
- 资助金额:
$ 46.52万 - 项目类别:
Standard Grant
Research on Gravitation, Relativity and Cosmology (Physics)
引力、相对论和宇宙学研究(物理学)
- 批准号:
8921378 - 财政年份:1990
- 资助金额:
$ 46.52万 - 项目类别:
Continuing Grant
Research in Gravitation and Cosmology (Physics)
引力与宇宙学研究(物理学)
- 批准号:
8419908 - 财政年份:1985
- 资助金额:
$ 46.52万 - 项目类别:
Continuing Grant
Research on Gravitation, Relativity and Cosmology (Physics)
引力、相对论和宇宙学研究(物理学)
- 批准号:
8118157 - 财政年份:1981
- 资助金额:
$ 46.52万 - 项目类别:
Continuing Grant
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