Synthesis and Control of Hyper Redundant Network-Structure Robot with Elastic Elements

弹性元件超冗余网络结构机器人的合成与控制

• 批准号: 15560215
• 负责人: IWATSUKI Nobuyuki
• 金额: $ 2.43万
• 依托单位: Tokyo Institute of Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2003
• 资助国家: 日本
• 起止时间: 2003 至 2004
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-15560215/
• 关键词: Robotics; Hyper Redundant Mechanism; Network-Structure Robot; Elastic Elements; Kinematic Analysis; Interference between Actuators; Compliance; Optimum Motion Control; 多自由度機構; つりあい方程式

Aiming to realize effective motion of overactuator network-structure robots with hyper redundancy, new planar network-structure robots with elastics elements were proposed and synthesized. Kinematic analyses of the robots were established by taking account of force balance and the optimum control of the robots was then examined. The obtained results are summarized as fellows.(1)Elastic network-structure modules as the minimum unit of the robot were synthesized with with linearactuators equipped with a linearspring, multi-jointed links and revolute pairs. By connecting many elastic network-structure modules mutually, a large scale network-structure robot with elastic elements could be obtained.(2)The output degrees-of-freedom of elastic actuator unit and whole robot and the configuration determining parameter was defined. Elastic input/output equation of the robot was generally derived by taking account of force balance and then solved to carry out direct kinematics of the robot.(3)By applying the proposed direct kinematics and the gradient projection method, a new optimum inverse kinematics of the planar elastic network-structure robot was formulated and was carried out so as to minimize the compliance of the output link as the objective function.(4)A prototype of the planar elastic network-structure robot including a closed-loop link chain and 4 DOF and 5 actuators was built and experimentally examined. The prototype could generate the specified trajectories while keeping the stiffness of its output link high.(5)A new hybrid spatial manipulator by serially connecting many spatial parallel mechanism units was proposed as a fundamental mechanism of the spatial elastic network-structure robot. Both of the direct and inverse kinematics was established and applied to CP control of the manipulator utilizing the redundant DOF.

为实现超冗余超作动网络结构机器人的有效运动，提出并合成了一种新型平面弹性单元网络结构机器人。在考虑力平衡的基础上，建立了机器人的运动学分析，并对机器人的最优控制进行了验证。所得结果总结为研究员。(1)以弹性网络结构模块为机器人的最小单元，综合了由线性弹簧、多关节连杆和转动副构成的线性执行器。通过将多个弹性网络结构模块相互连接，可以得到具有弹性单元的大型网络结构机器人。(2)定义了弹性作动单元和整个机器人的输出自由度及构型决定参数。一般在考虑力平衡的基础上推导出机器人的弹性输入/输出方程，然后进行求解，实现机器人的直接运动学。(3)应用所提出的正运动学和梯度投影法，以输出环节柔度最小为目标函数，建立了平面弹性网络结构机器人的新的最优运动学逆解。(4)建立了包含闭环连杆链、4自由度和5作动器的平面弹性网络结构机器人样机，并进行了实验验证。该原型可以在保持高输出杆刚度的同时生成指定的轨迹。(5)提出了一种由多个空间并联机构单元串联而成的新型混合空间机械臂，作为空间弹性网状结构机器人的基本机构。建立了机器人的正运动学和逆运动学模型，并利用冗余自由度对机器人进行CP控制。

项目成果

Nobuyuki Iwatsuki, et al.: "Motion Control of Planar Network-structure Robots with Elastic Elements"Proc. of the 7th International Conference on Mechatronics Technology. 47-52 (2003)

Nobuyuki Iwatsuki等人：“具有弹性元件的平面网络结构机器人的运动控制”Proc。

Nobuyuki Iwatsuki, et al.: "Motion Control of Multi-DOF Network-structure Robots with Elastic Elements"Proc. of the 6th International Workshop of Mechanical Sciences and Engineering. 1-8 (2003)

Nobuyuki Iwatsuki等人：“具有弹性元件的多自由度网络结构机器人的运动控制”Proc。

Motion Control of a Hyper Redundant Manipulator Built by Serially Connecting with Many Parallel Mechanism Units with a Few DOF

多并联机构单元串联构建的少自由度超冗余机械臂的运动控制

• 发表时间: 2004
• 期刊: Proc.of the 8th International Conference on Mechatronics Technology (Keynote paper)
• 作者: Nobuyuki Iwatsuki;Norifumi Nishizaka;Kouichi Morikawa;Koji Kondoh
• 通讯作者: Koji Kondoh

超多自由度ロボットの機構と制御

超多自由度机器人机构与控制

• 发表时间: 2004
• 期刊: 日本機械学会第4回機素潤滑設計部門講演会講演論文集
• 作者: Nobuyuki Iwatsuki;Norifumi Nishizaka;Kouichi Morikawa;Koji Kondoh;岩附信行
• 通讯作者: 岩附信行

Motion Control of Multi-DOF Network-structure Robots with Elastic Elements

弹性元件多自由度网络结构机器人运动控制

• 发表时间: 2003
• 期刊: Proc.of the 6th International Workshop of Mechanical Sciences and Engineering
• 作者: Nobuyuki Iwatsuki;Tomokatsu Kitamura;Iwao Hayashi;Kouichi Morikawa
• 通讯作者: Kouichi Morikawa