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NRI: Shape Morphing Arm Robotic (SMART) Manipulators for Simultaneous Safe Human-Robot Interaction and High Performance in Manufacturing

NRI：形状变形手臂机器人 (SMART) 操纵器可同时实现安全人机交互和高性能制造

基本信息

批准号：
1637656
负责人：
Hai-Jun Su
金额：
$ 97.78万
依托单位：
Ohio State University
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2016
资助国家：
美国
起止时间：
2016-09-01 至 2020-08-31
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1637656&HistoricalAwards=false
关键词：
NRI Shape Morphing Arm Robotic

项目摘要

Co-robots are robotic devices that work in collaboration with human partners. The current solutions for human-safe co-robots fail to offer the safety required in many manufacturing tasks. The shape morphing robotic manipulators are designed to be inherently safe by making the links flexible during robot motion. The upper and lower arms of the manipulators can change their stiffness in real-time by simple smart material actuators. The arms are relatively stiff at low speeds for maximum performance and highly flexible at high speeds for maximum safety. When a collision occurs, the flexible link deflects to limit the impact to the human operator. At low speeds, the flexible link is morphed to the high stiffness mode for maximum positioning accuracy. This research will significantly improve the design of safe co-robotic systems, which can benefit numerous fields, including the health care, automotive, construction and military sectors. It will help to reduce injuries in manufacturing industries and home/hospital nursing and improve efficiency of housekeeping. Safety concerns with industrial robots present a serious technical barrier to practical co-robot applications. To address these safety challenges, this research offers a comprehensive solution by integrating complementary expertise in three areas: (i) shape morphing and design optimization of compliant mechanisms, (ii) electrically-controlled stiffness modulation with smart materials and (iii) performance maximization by optimal motion control. The shape morphing robotic manipulators can adapt their stiffness to the traveling speed by morphing their shape. They are designed for safe operation while maintaining their performance via shape morphing control and trajectory motion control. The shape morphing robotic manipulator offers several advantages over existing techniques in co-robots. It has the potential to create a paradigm shift towards "safe by design, performance by control" for human-safe co-robots.

合作机器人是与人类合作伙伴协作的机器人设备。目前的人类安全合作机器人解决方案无法提供许多制造任务所需的安全性。形状变形机器人操纵器被设计成通过在机器人运动期间使连杆柔性而具有固有安全性。通过简单的智能材料驱动器，机械臂的上下臂可以实时改变其刚度。臂在低速时相对刚性以获得最大性能，在高速时高度灵活以获得最大安全性。当发生碰撞时，柔性连杆偏转以限制对操作人员的冲击。在低速时，柔性连杆变形为高刚度模式，以获得最大的定位精度。这项研究将大大改善安全的协作机器人系统的设计，这将使医疗保健、汽车、建筑和军事等众多领域受益。这将有助于减少制造业和家庭/医院护理的伤害，并提高家务管理的效率。工业机器人的安全问题是实际合作机器人应用的严重技术障碍。为了应对这些安全挑战，本研究通过整合三个领域的互补专业知识提供了一个全面的解决方案：（i）柔性机构的形状变形和设计优化，（ii）智能材料的电控刚度调制和（iii）通过最佳运动控制实现性能最大化。形状变形机器人通过变形使其刚度适应于移动速度。它们设计用于安全操作，同时通过形状变形控制和轨迹运动控制保持其性能。变形机器人操纵器的形状提供了几个优点，在合作机器人的现有技术。它有可能为人类安全的合作机器人创造一个“设计安全，控制性能”的范式转变。