MRI: Acquisition of a Lightweight 7-Axis Robotic Manipulator with Force Sensing for Archaeological and Engineering Research and Education

MRI：采购具有力感应功能的轻型 7 轴机器人操纵器，用于考古和工程研究与教育

• 批准号: 2216138
• 负责人: Joshua Schultz
• 金额: $ 13.74万
• 依托单位: University of Tulsa
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2022
• 资助国家: 美国
• 起止时间: 2022-09-01 至 2025-08-31
• 项目状态: 未结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2216138&HistoricalAwards=false
• 关键词: MRI; Acquisition; Lightweight; Axis; Robotic

This Major Research Instrumentation (MRI) award supports the acquisition of a 7-axis robotic arm for multidisciplinary research. This robotic arm will enable several research projects requiring complex and repetitive motions. For example, this instrument will enable sophisticated archaeological and engineering experiments. For archaeological research, the robot arm will replicate ancient tasks with stone and bone tools. When performing tasks such as scraping and cutting, traces of these actions develop on the surface of the tool. Comparing the wear patterns on replica tools with traces on artifacts, researchers can interpret how prehistoric people may have used these tools. Unlike a test fixture with limited motions, the robotic arm more closely mimics human movements leading to better understanding of life in the ancient past. Within engineering, this robot will be used to study what occurs in the walls of metal tubes when they are bent back and forth into new shapes numerous times, such as when a coiled tube is forced down a straight well-bore. This will aid in predicting when the tubing will rupture, improving safety and preventing environmental catastrophe. This robot arm is also expected to be used in a variety of other scientific endeavors, including how to grasp and move objects with robot hands so that robots are more useful in industry and human-facing applications. Finally, the robot will be used to engage and educate students, visitors, and the broader public. The robot will be used to perform archaeological use-wear studies on stone and bone tools, which can be compared to those on archaeological artifacts using focus-variation microscopy and imaging confocal microscopy. Crucially, the robot can mimic the variability of human motions while also providing quantitative, replicable data produced by those motions. For engineering, the robot will used to study a phenomenon called “rachetting”, which occurs when metal tubing is subject to large deformations. The robot will be able to generate the complex bending trajectories that have been associated with this phenomenon, which is difficult to perform with existing testing machines. Finally, the robot will be used to study the interaction of grasped objects with the environment as the hand holding the object approaches from various directions, as well as to generate complex, moving constraint surfaces to experimentally study the interaction of soft robots with their environment. Overall, the robotic arm will produce the complex trajectories needed to advance these multidisciplinary research projects.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

该重大研究仪器（MRI）奖支持购买用于多学科研究的7轴机械臂。这种机械臂将使几个需要复杂和重复运动的研究项目成为可能。例如，该仪器将使复杂的考古和工程实验成为可能。 对于考古研究，机器人手臂将用石头和骨头工具复制古代的任务。当执行刮擦和切割等任务时，这些动作的痕迹会在工具表面形成。将复制工具上的磨损模式与文物上的痕迹进行比较，研究人员可以解释史前人如何使用这些工具。与运动受限的测试夹具不同，机器人手臂更接近于模仿人类的运动，从而更好地了解古代的生活。在工程领域，这个机器人将被用来研究金属管壁在多次来回弯曲成新形状时会发生什么，比如当一个盘管被迫进入直井孔时。这将有助于预测油管何时破裂，提高安全性并防止环境灾难。这种机器人手臂也有望用于其他各种科学工作，包括如何用机器人手抓住和移动物体，使机器人在工业和面向人类的应用中更有用。最后，机器人将用于吸引和教育学生，游客和更广泛的公众。该机器人将用于对石器和骨工具进行考古使用磨损研究，这些研究可以与使用焦点变化显微镜和成像共聚焦显微镜的考古文物进行比较。至关重要的是，机器人可以模仿人类运动的可变性，同时还提供由这些运动产生的定量的、可复制的数据。对于工程，机器人将用于研究一种称为“rachetting”的现象，这种现象发生在金属管道受到大变形时。机器人将能够生成与这种现象相关的复杂弯曲轨迹，这是现有测试机器难以执行的。最后，机器人将被用来研究所掌握的物体与环境的相互作用，因为手握着物体从各个方向接近，以及产生复杂的，移动的约束表面，实验研究软机器人与环境的相互作用。总的来说，机械臂将产生推进这些多学科研究项目所需的复杂轨迹。该奖项反映了NSF的法定使命，并通过使用基金会的智力价值和更广泛的影响审查标准进行评估，被认为值得支持。