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Development of Shape-varying Robots with a Network Structure with Huge Degree-of-freedom

大自由度网络结构变形机器人的研制

基本信息

批准号：
09650288
负责人：
IWATSUKI Nobuyuki
金额：
$ 2.11万
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：
1997
资助国家：
日本
起止时间：
1997 至 1998
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-09650288/
关键词：
Network structure robot Robot with huge DOF Redundant DOF Mechanical synthesis Interference of motions Displacement analysis Closed-loop mechanism Co-operational motion 直動アクチュエータ空間機構ロボットパラレルメカニズム網構造位置制御総合

项目摘要

Aiming to develop high performance robots with huge degree-of-freedom for human daily life, a new-type robot which had a network structure composed of many actuators and multi-joint links and could change its external shape was proposed. The methodology to synthesize and control the robot was theoretically and experimentally discussed. The results obtained are summarized as follows.1. A planar network structure robot that was composed of linear actuators and links with revolute joints was proposed. Number synthesis of a module as a unit of planar network structure was carried out. By connecting some synthesized modules with each other, a planar network-structure robot with 12 DOF and 13 actuators was synthesized.2. A prototype of the synthesized robot was controlled so as to position the three straight lines, which approximately represented the external shape of the robot. It was confirmed that the proposed control method was useful because the robot could change its external shape while avoiding the interference between actuator motions.3. A spatial closed-loop manipulator with redundancy was proposed as a spatial network structure robot. By representing the manipulator with multi-joint links and to equivalent pairs, number synthesis of the manipulator, which had a redundancy and symmetrical structure and of which all actuators were fixed on a frame was carried out.4. A system of 24 nonlinear equations was derived to analyze the inverse kinematics of the synthesized spatial manipulator with 8 degrees-of-freedom, however the converged solutions could not be obtained with the Newton-Raphson method. The redundancy was experimentally confirmed because a prototype of the manipulator could take various configurations for the same position and posture of its output link. Thus the proposed manipulator would be able to achieve flexible motions with an adequate rigidity.

为了开发满足人类日常生活需要的高性能大自由度机器人，提出了一种由多个驱动器和多个关节组成的网络结构并可改变其外部形状的新型机器人。从理论和实验两个方面讨论了机器人的合成和控制方法。所获得的结果概括如下：1.提出了一种由直线驱动器和带有回转关节的连杆组成的平面网络结构机器人。以模块为单位进行了平面网络结构的数值综合。通过将多个综合模块连接起来，合成了一个具有12个自由度和13个致动器的平面网络结构机器人。通过对合成机器人样机的控制，实现了三条直线的定位，这三条直线大致代表了机器人的外形。验证了所提出的控制方法是有效的，因为机器人可以改变其外部形状，同时避免了执行器运动之间的干扰。提出了一种具有冗余度的空间闭环机械手作为空间网络结构机器人。通过将机械手表示为多关节杆件和等效副，对具有冗余度和对称性结构的机械手进行了数值综合。用牛顿-拉夫森方法对8自由度综合空间机械臂进行了逆运动学分析，得到了24个非线性方程组，但不能得到收敛解。实验证实了这种冗余度，因为该机械手的原型可以对其输出连杆的相同位置和姿态采取不同的构形。因此，所提出的机械手将能够实现具有足够刚性的灵活运动。