SBIR Phase II: A Pneumatically Actuated Robot System

SBIR 第二阶段：气动机器人系统

• 批准号: 1230451
• 负责人: Michael Kriegsmann
• 金额: $ 47.62万
• 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: 2012
• 资助国家: 美国
• 起止时间: 2012-08-15 至 2016-07-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1230451&HistoricalAwards=false
• 关键词: SBIR; Phase; II; Pneumatically; Actuated

This Small Business Innovation Research (SBIR) Phase II project addresses the challenge of coupling direct drive servo actuators to industrial robotic plants with uncertainties. Enhanced productivity sought in many applications requires higher cycle rates placing great demands on machine 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 robotic plant. Consequently, direct-drive servo actuators are sensitive to variations in plant parameters, unknown disturbances, and un-modeled dynamics. This project will investigate and develop a prototype of an innovative, direct-drive pneumatic robot actuator that employs an advanced control strategy to rapidly accommodate dynamic system variations. Effectiveness of a new control strategy that relies on limited specific knowledge of the plant to optimize robustness to bounded uncertainties will be researched and developed. Success of this project will provide for significant advances in speed, load capacity, and affordability in contemporary industrial robotic 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 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, the controls knowledge gained from this research can be extended to many electric servo systems and to industrial control systems in general. Two market segments will be targeted: robotics and general motion control (GMC), both estimated at $7 billion. If software, peripherals and systems engineering are included, the robotics market is estimated at $19 billion. Both the robotics and GMC industries significantly support 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 new applications in robotics and industrial automation, 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）第二阶段项目解决了将直接驱动伺服执行器耦合到具有不确定性的工业机器人工厂的挑战。在许多应用中寻求提高生产率需要更高的循环速率，这对机器运动学，致动器和控制系统提出了很高的要求。进一步提高运行速度必须解决直接耦合伺服致动器和机器人连杆的固有动态挑战。当与现有的机电伺服致动器（其通过复杂的机械传动来传递动力）相比时，机器人联动装置的直接驱动致动能够实现简单的机械结构和快速运动，但不提供致动器和机器人工厂之间的动态隔离。因此，直接驱动伺服致动器是敏感的植物参数的变化，未知的干扰，和未建模的动态。该项目将研究和开发一种创新的直接驱动气动机器人致动器的原型，该致动器采用先进的控制策略来快速适应动态系统的变化。将研究和开发一种新控制策略的有效性，该策略依赖于对工厂的有限特定知识来优化对有界不确定性的鲁棒性。该项目的成功将为当代工业机器人系统的速度，负载能力和可负担性提供重大进步。该项目更广泛的影响/商业潜力涉及工程研究，以提高对直接驱动伺服致动器和机器人机构之间动态相互作用的理解，并进一步提高控制策略的有效性和理解，该控制策略提供了它们之间的有利耦合，迄今为止在实践中不可行。这有可能在机器人行业以及整个工业自动化领域带来变革。此外，从本研究中获得的控制知识可以扩展到许多电动伺服系统和一般的工业控制系统。两个细分市场将成为目标：机器人和通用运动控制（GMC），两者估计都是70亿美元。如果包括软件、外围设备和系统工程，机器人市场估计为190亿美元。机器人和GMC行业都为国民经济提供了重要支持，其应用范围从制造业和食品加工到远程控制手术等医疗进步以及国防。在工程和技术服务领域创造了高薪的高科技新工作。这项研究将开发机器人和工业自动化领域的新应用、教育STEM机会、增强科学和技术理解，使美国在全球更具竞争力。