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

为了实现超冗余度过驱动网络结构机器人的有效运动，提出并综合了一种新型的具有弹性元件的平面网络结构机器人。通过考虑力平衡建立了机器人的运动学分析，然后研究了机器人的最优控制。所得结果总结如下。（1）以弹性网络结构模块作为机器人的最小单元，由线性弹簧、多关节杆件和转动副组成的线性驱动器综合而成。通过将多个弹性网络结构模块相互连接，可以得到一个具有弹性元件的大型网络结构机器人。（2）定义了弹性驱动单元和整个机器人的输出自由度和位形决定参数。一般在考虑力平衡的情况下推导出机器人的弹性输入/输出方程，然后求解，进行机器人的运动学正解。(3)By应用所提出的运动学正解和梯度投影法，以输出杆柔度最小为目标函数，建立了平面弹性网络结构机器人的一种新的优化逆运动学。(4)A建立了一个由4自由度、5个驱动器组成的平面弹性网络结构机器人样机，并进行了实验研究。该样机能够在保持高输出刚度的同时生成指定的轨迹。(5)A提出了一种由多个空间并联机构单元串联而成的新型混联空间机器人，作为空间弹性网络结构机器人的基础机构。建立了机器人的正、逆运动学模型，并将其应用于冗余自由度机械臂的CP控制。

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.