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.

在这项研究中，作者提出了一种超冗余操纵器的机制，该机制具有几个封闭的三个条形连锁机制。一个单元包括一个主动驱动的关节，被动旋转的接头和一个滑块。该机制的特性总结如下，（1）预计由于封闭的链接而预期高机械刚度。（2）终点的运动主要由位于操纵器的远端位置的执行器支配。2001 2001年的数学方法是在这种机制上进行了这种机制的一项模型，该方法已在该机制上进行了一种模型。在2002年开发。开发了运动驱动器单元和控制软件。实现了控制实验，并阐明了一个模型能够使用常规PID控制来控制。除了开发原型模型外，还进行了模拟分析以找到更复杂的链接和DOF配置。结果，作者发现8 DOF模型适用于终点的广泛运动。根据此分析，作者现在计划从2003年起开发第二种模型。

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手”AIM01 会议记录，2001 年 IEEE/ASME 国际高级智能机电一体化会议。