权益分类	功能权益	普通用户	{{item.name}}会员
{{category.name}}	{{benefitItem.name}}

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.

为了开发高性能的大自由度机器人以满足人类日常生活的需要，提出了一种由多个驱动器和多个关节杆组成的网络结构的可改变外形的新型机器人。从理论和实验上讨论了机器人的综合和控制方法。主要研究结果如下：1.提出了一种由直线驱动器和带转动关节的连杆组成的平面网络结构机器人。以模块为平面网络结构单元进行了数字综合。通过将合成模块相互连接，合成了一个具有12个自由度、13个驱动器的平面网络结构机器人.对合成机器人的原型进行控制，以便定位近似表示机器人外部形状的三条直线。实验结果表明，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器人作为空间网络结构机器人。通过将机械臂用多关节杆件表示，并将其等效为多个运动副，对具有冗余对称结构的、所有驱动器均固定在框架上的机械臂进行了数量综合.针对Newton-Raphson法无法求解8自由度空间机器人逆运动学问题，建立了24个非线性方程组。冗余实验证实，因为一个原型的机械手可以采取各种配置相同的位置和姿态的输出连杆。因此，所提出的机械手将能够实现具有足够刚度的柔性运动。