Hyper Redundant Manipulator with Compound three Closed Linkage Mechanism

复合三闭式联动机构超冗余机械臂

• 批准号: 13650287
• 负责人: KOGANEZAWA Koichi
• 金额: $ 2.11万
• 依托单位: TOKAI UNIVERSITY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (C)
• 财政年份: 2001
• 资助国家: 日本
• 起止时间: 2001 至 2002
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-13650287/
• 关键词: Hyper redundant manipulator; Closed linkage system; 閉リンク機構; 冗長自由度

In this study the authors propose a mechanism of hyper redundant manipulator, which has a couple of closed three bar- linkage mechanisms. One unit comprises one actively driven joint, passively rotated joint and one slider. The properties of this mechanism are summarized as follows,(1) High mechanical stiffness is expected due to the closed linkage.(2) The motion of the endpoint is dominantly governed by the actuators located distal position of manipulator.In 2001 the mathematical method of kinematical and dynamical analysis in terms of this mechanism has been proposed and actually applied to this mechanism to design the prototype model having four DOR.Based on this analysis the model one has been developed.In 2002, the model one was assembled. The motor driver unit and control software were developed. The control experiment was achieved and it elucidated that the model one was able to control using the conventional PID control. In addition to develop the prototype model, the simulation analysis has been pursued to find more sophisticated link and DOF configuration. As a result the authors found that 8 DOF model is suitable for wide range of motion of the end point. According to this analysis the authors are now planning to develop the second model from 2003.

提出了一种由一对闭合三杆机构组成的超冗余度机器人机构。一个单元包括一个主动驱动关节、被动旋转关节和一个滑块。该机构的特点如下：（1）由于连杆机构为封闭式，因此具有较高的机械刚度。(2)末端的运动主要由位于末端的作动器控制，2001年提出了该机构的运动学和动力学分析的数学方法，并将其应用于该机构，设计了具有四自由度的样机，在此基础上研制了样机，2002年完成了样机的装配。开发了电机驱动单元和控制软件。实验结果表明，该模型能够实现常规PID控制。除了开发原型模型外，还进行了仿真分析，以找到更复杂的连杆和自由度配置。结果发现，8自由度模型适合于端点的大范围运动。根据这一分析，作者现在计划从2003年开始开发第二种模式。

项目成果

Koganezawa, K.: "Redundancy Resolution For Robot Manipulators -Comparison of Computational Efficiency Between the SVDS, the Fast Similarity Factorization and Recursive Formulation-"Proceedings of 2001 IEEE International Symposium Computational Intelligenc

Koganezawa, K.：“机器人操纵器的冗余解决方案 - SVDS、快速相似性分解和递归公式之间的计算效率比较 -”2001 年 IEEE 国际计算智能研讨会论文集

Koganezawa, K: "Fast Similarity Factorization for Solving Matrix Dynamic Equation"JSME International Journal. C4 6 (2). (2003)

Koganezawa, K：“求解矩阵动态方程的快速相似因式分解”JSME 国际期刊。

Koganezawa, K., T.Kinoshita: "Hyper Redundant Manipulator Using Compound Three-bar Linkages"Proceedings of AIM'01, 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. 8-13

Koganezawa, K., T.Kinoshita：“使用复合三杆连杆机构的超冗余机械手”AIM01 会议记录，2001 年 IEEE/ASME 国际高级智能机电一体化会议。

Koganezawa, K., K.Kaneko: "A Method for Constraints Stabilization on Solving Multibody Dynamics"Proceedings of DETC'01,ASME 2001 Design Engineering Technical Conferences and Computers and Information in Engineering Conference. (2001)

Koganezawa, K., K.Kaneko：“求解多体动力学的约束稳定性方法”DETC01、ASME 2001 设计工程技术会议和工程计算机和信息会议论文集。

Koganezawa, K., T.Kinoshita: "Hyper Redundant Manipulator Using Compound Three-bar Linkages"Proceedings of AIM' 01, 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics. 8-13 (2001)

Koganezawa, K., T.Kinoshita：“使用复合三杆连杆机构的超冗余机械臂”AIM 01 会议记录，2001 年 IEEE/ASME 国际高级智能机电一体化会议。