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.

旨在为人类日常生活开发高性能机器人，这是一种新型机器人，该机器人具有许多由许多执行器和多关节链路组成的网络结构，并可能会改变其外部形状。理论上和实验讨论了合成和控制机器人的方法。获得的结果总结如下1。提出了由线性执行器组成的平面网络结构机器人，并提出了与Revolute关节的联系。进行了模块作为平面网络结构单位的数字合成。通过将一些综合模块相互连接，合成了具有12个DOF和13个执行器的平面网络结构机器人。2。控制了合成机器人的原型，以将三个直线定位，该直线大约代表了机器人的外部形状。已确认所提出的控制方法很有用，因为机器人可以在避免执行器运动之间的干扰的同时改变其外部形状。3。提出了具有冗余性的空间闭环操纵器作为空间网络结构机器人。通过代表具有多关节链接的操纵器和与等效对的操作，该操纵器的数字合成具有冗余性和对称结构，并且所有执行器都固定在框架上。4。得出了一个24个非线性方程的系统，以分析具有8度自由度的合成空间操纵器的反向运动学，但是通过Newton-Raphson方法无法获得融合的溶液。实验确认了冗余，因为操纵器的原型可以采用各种配置，以实现其输出链接的相同位置和姿势。因此，提出的操纵器将能够以足够的刚性实现柔性运动。