Evolution of Mast-type Statically Determinate Truss into Flexible Robot Arm

桅杆式静定桁架演化为柔性机械臂

• 批准号: 60460082
• 负责人: SEGUCHI Yasuyuki
• 金额: $ 3.01万
• 依托单位: Osaka University (1986-1987)Kobe University (1985)
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for General Scientific Research (B)
• 财政年份: 1985
• 资助国家: 日本
• 起止时间: 1985 至 1987
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-60460082/
• 关键词: Future System of Robot Arm; Mast Type Statically Determinate Truss; Flexible Robot Arm; High Degree of Freedom; Dynamics of Arm Motion; 静動力学; 運動計画; ロボット工学; 柔軟ロボット; 多自由度アーム; 拡張運動方程式; シミュレーション; 偏心ジョイント; 伸縮メカニズム; 最適運動計画; 動的計画法

In order to develop a future system of robot arm, the evolution of a mast-type truss of statically determinate was studied to establish its kinematics, statics and dynamics as well as the motion planning and the design of a prototype. The concept is based on the idea the truss can be transformed to the flexible arm system of multi-degrees of freedom (DOF) if each component is designed to change its length.If the length of components if properly controled, the system can be utilized as a robot arm having as many DOF as the number of variable components. The features of this idea are as follows:The arm has, 1) the high DOF which result in much more flexible than the conventional arm, 2) the handling capacity for materials with heavy weight,3) the extremely simple structure per DOF compared with the multi-link arm, and4) the stowed and deployable capacity.The research is mainly concentrated into, 1) the establishment of the fundamental theory concerning the kinematics, statics and dynamics of the system and the computer simulation of the response, 2) the planning and the optimization of the motion to make use appropriately of high DOF, and 3) the design of the prototype including special subsystems such the joint and the actuater. These basic studies will contribute to develop the new system of the next generation.

为了开发未来的机械臂系统，研究了静定桅杆式桁架的演化，建立了其运动学、静力学和动力学以及运动规划和原型设计。该概念的基础是，如果每个组件都设计为改变其长度，则桁架可以转变为多自由度（DOF）的柔性臂系统。如果组件的长度得到适当控制，则该系统可以用作具有与可变组件数量一样多的自由度的机器人手臂。该想法的特点如下：1）手臂具有高自由度，比传统手臂更加灵活；2）对大重量材料的处理能力；3）与多连杆手臂相比，每个自由度的结构极其简单；4）收起和展开能力。研究主要集中在：1）建立系统和计算机的运动学、静力学和动力学基础理论。 响应的模拟，2）运动的规划和优化，以适当地利用高自由度，以及3）原型的设计，包括特殊子系统，例如关节和执行器。这些基础研究将有助于开发下一代新系统。

项目成果

Yasuyuke SEGUCHI: Rroc. International Conference on Computational Engineering Science. 3-6 (1988)

濑口康之：Rroc。

瀬口靖幸: 第36回応用力学連合講演会構演論文抄録集. 165-166 (1986)

Yasuyuki Seguchi：第 36 届应用力学联盟讲座摘要集 165-166 (1986)。

Yasuyuki,Seguchi: "Motion and Dynamics of Flexible Arm of a Mast-type Statically Determinate Truss" Proc. International Conference on Computational Engineering Science. 3-6 (1988)

Yasuyuki，Seguchi：“桅杆式静定桁架的柔性臂的运动和动力学”Proc。

Y.Seguchi: Proceedings of Japan-U.S.A.Symposium on Flexible Automation. 251-259 (1986)

Y.Seguchi：日本-美国灵活自动化研讨会论文集。

Yasuyuki,Seguchi: "Evolution of Mast-type Truss to Robot Arm" Proc. Japan-U.S.A. Symposium on Flexible Automation. 251-259 (1986)

Yasuyuki，Seguchi：“桅杆式桁架到机器人手臂的演变”Proc。