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.

旨在实现具有超冗余的过度激烈网络结构机器人的有效运动，提出并合成具有弹性元素的新的平面网络结构机器人。通过考虑力平衡来确定机器人的运动学分析，然后检查了对机器人的最佳控制。 （1）将机器人的最小单位与配备有线性弹簧，多关节链接和Revolute对的线性分离器合成的弹性网络结构模块总结为研究员。通过连接许多弹性网络结构模块，可以获得具有弹性元素的大型网络结构机器人。（2）弹性执行器单元和整个机器人的自由度的输出程度和整个机器人以及配置确定参数已定义。 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建立并通过实验检查了平面弹性网络结构机器人的原型，包括闭环链链和4个DOF和5个执行器。该原型可以生成指定的轨迹，同时保持其输出链路较高的刚度。（5）通过连接许多空间平行机制单元的新混合空间操纵器是作为空间弹性网络结构机器人的基本机制提出的。建立了直接运动学和反向运动学，并应用于使用冗余DOF的操纵器的CP对照。

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