Reserach on Dexterous High Speed Parallel Robots

(1)高速运动高速运动的可能性已经使用基准测试运动进行了评估，我们称之为ADEPT运动，ADEPT机器人的名字被公认为是最快的工业机器人。HEXA机器人在0.465秒内实现了一个周期的ADEPT运动性能。沿Z轴的加速度为27.8G。(2)高精度动态路径跟踪通过了高精度动态路径跟踪测试。我们使用了两种方法：一个简单的动态模型和一个前馈速度分量。结果表明，两种方法都能保证高精度的路径跟踪。然而，后一种方法更可取，因为它比前一种方法需要更少的计算。(3)无力传感器的顺应性控制由于HEXA配备了DD电机，因此可以使用力传感器实现顺应性控制。我们实现了预期的性能，也使用了一种新的摩擦补偿方法。(4)基于奇异点的路径规划一种新提出的奇异一致性路径规划与控制方法已经实现并进行了测试。(5)提出了一种新型六轴结构的设计方案，在此基础上提出了一种新型六轴结构的设计方案。最终目标是提高最大速度并达到50g的加速度。(6)在MIMRA组织的会议上平行机器人的特别会议是由M.Uchiyama教授在微系统、智能材料和机器人国际研讨会上组织的，仙台，日本，1995年9月27-29日

(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