Reserach on Dexterous High Speed Parallel Robots

灵巧高速并联机器人研究

• 批准号: 06044020
• 负责人: UCHIYAMA Masaru
• 金额: $ 3.97万
• 依托单位: Tohoku University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for international Scientific Research
• 财政年份: 1994
• 资助国家: 日本
• 起止时间: 1994 至 1995
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-06044020/
• 关键词: HEXA mechanism; Parallel robot; Closed-loop mechanism; Singularity; Dynamic control; Compliance control

(1)High Speed MotionThe possibility for high speed motion has been evaluated using a bench-mark test motion, which we called ADEPT motion, after the name of the ADEPT robot which has been acknowledged to be the fastest industrial robot. The HEXA robot achieved one-cycle ADEPT motion performance within 0.465 seconds. The acceleration along the Z axis was 27.8G.(2)High Accuracy Dynamic Path TrackingAccurate dynamic path tracking has been tested. We used two approaches based on : a simple dynamic model, and a feedforward velocity component. As a result, it was confirmed that both approaches guarantee high accuracy path tracking. However, the latter approach is preferable, since it requires less computations than the former.(3)Compliance Control Without Force SensorSince the HEXA is equipped with DD motors, it was possible to implement compliance control with using a force sensor. We achieved the desired performance, using also a novel approach for friction compensation.(4)Path Planning Through Singular PointsA newly proposed singularity-consistent path planning and control method has been implemented and tested.(5)Proposal of a New Type HEXABased on the results of our research, we propose a new design for HEXA.The ultimate goal is to increase the maximum speed and achive accleration up to 50 G.(6)Organized Session at MIMRA special session on parallel robots was organized by prof. M.Uchiyama at the International Symposium on Microsystems, Intelligent Materials and Robots, Sendai, Japan, Sept. 27-29,1995

（1）高速运动使用基准测试运动来评估高速运动的可能性，我们称之为ADEPT运动，以ADEPT机器人的名称命名，ADEPT机器人被认为是最快的工业机器人。HEXA机器人在0.465秒内实现了单周期ADEPT运动性能。沿Z轴的加速度沿着为27.8 G。（2）高精度动态路径跟踪对高精度动态路径跟踪进行了实验。我们使用了两种方法的基础上：一个简单的动态模型，和前馈速度分量。结果，证实了这两种方法都保证了高精度的路径跟踪。然而，后一种方法是优选的，因为它需要比前一种更少的计算。（3）无力传感器的柔顺性控制由于HEXA配备DD电机，因此可以使用力传感器实现柔顺性控制。我们还使用了一种新颖的摩擦补偿方法，实现了所需的性能。（4）基于奇异点的路径规划实现了一种新的奇异点一致性路径规划与控制方法。（5）提出了一种新型HEXA的设计方案根据我们的研究结果，我们提出了一种新的HEXA设计方案，其最终目标是提高最大速度，使加速度达到50 G。（6）在日本仙台举行的微系统、智能材料和机器人国际研讨会上，内山先生组织了关于并联机器人的特别会议。27-29,1995

项目成果

MASARU UCHIYAMA: "Structures and characteristics of parallel manipulators" Advanced Robotics. Vol.8 No.6. 545-557 (1994)

MASARU UHIYAMA：“并联机械手的结构和特点”高级机器人学。

P.BEGON et al.: "Fuzzy sliding mode control of a fast parallel robot" IEEE International Conference on Robotics and Automation. 1178-1183 (1995)

P.BEGON 等人：“快速并联机器人的模糊滑模控制”IEEE 国际机器人与自动化会议。

Masaru Uchiyama et al.: "Dynamic Control Experiment on a Parallel Robot HEXA" Journal of the Robotics Society of Japan. (to be presented). (1996)

Masaru Uchiyama 等人：“并联机器人 HEXA 的动态控制实验”日本机器人学会杂志。

MASARU UCHIYAMA: "Structures and characteristics of parallel manipulators" ADVANCED ROBOTICS : The International Journal of the Robotics Society of Japan. 8. 545-557 (1994)

MASARU UCHIYAMA：“并联机械手的结构和特性” ADVANCED ROBOTICS：日本机器人学会国际期刊。

Masaru Uchiyama et al.: "EXPERIMENT ON DYNAMIC CONTROL OF A HEXA-TYPE PARALLEL ROBOT" INTELLIGENT AUTOMATION AND SOFT COMPUTING,TRENDS IN RESEARCH,DEVELOPMENT,AND APPLICATIONS,Proceedings of the First World Automation Congress(WAC'94). 281-286 (1994)

Masaru Uchiyama 等人：“六型并联机器人动态控制实验”智能自动化和软计算，研究、开发和应用趋势，第一届世界自动化大会论文集（WAC94）。