Creative Design of Parallel Manipulators with Multiple Operation Modes

多种作业模式并联机械臂的创意设计

• 批准号: EP/I016333/1
• 负责人: Xianwen Kong
• 金额: $ 12.87万
• 依托单位: Heriot-Watt University
• 依托单位国家: 英国
• 项目类别: Research Grant
• 财政年份: 2011
• 资助国家: 英国
• 起止时间: 2011 至 无数据
• 项目状态: 已结题
• 来源: https://gtr.ukri.org/projects?ref=EP%2FI016333%2F1
• 关键词: Creative; Design; Parallel; Manipulators; Multiple

The changing environment and variable tasks in manufacturing, packaging and food industries require the development of low-cost and reconfigurable manipulators which is critical for rapid change-over. This becomes even more important in the current economical crisis and may contribute to reviving manufacturing as pledged by the UK government. The project - creative design of parallel manipulators with multiple operation modes - is proposed to meet such needs. Parallel manipulators with multiple operation modes belong to a novel family of reconfigurable manipulators, which may adapt to changing environment and production requirement like a transformer and have the characteristics of parallel manipulators, which have a multi-arm like structure rather than the single-arm like structures of tranditional industrial manipulators. Despite the recent advances in reconfigurable manipulators and parallel manipulators, the research on reconfigurable parallel manipulators is still in its fantacy. This project aims at exploring the creative design of parallel manipulators with multiple operation modes. Unlike the reconfigurable manipulators proposed so far, parallel manipulators with multiple operation modes need fewer actuators and do not require disassembly for reconfiguration. Recently, we have obtained a family of parallel manipulators with multiple operation modes which can be used to control the planar motions along three orthogonal planes. In our design, only three actuators are needed, while at least six actuators are needed if the current industrial manipulators are used to carry out the same task. This project will lead to the development of a general framework for the design of parallel manipulators with multiple operation modes. Two issues will be addressed: a) how to invent parallel manipulators with multiple operation modes, and b) how to reconfigure the parallel manipulators with multiple operation modes. This research will develop a systematic approach and a framework for the design of innovative parallel manipulators with multiple operation modes based on the advances in mechanisms and machine science, robotics, mathematics and control. A prototype will be built to corroborate and validate the proposed approaches using advanced modelling, CAD (computer-aided-design), rapid prototyping and control technologies. This research will benefit the academic community in the fields of mechanisms, robotics and automation, mechatronics and product design and may be further extended to biomedical research such as protein folding and misfolding. It will also benefit users from all industry sectors who will have improved productivity and better products. Further research may lead to low-cost and energy efficient manipulators.

在制造、包装和食品工业中，环境的变化和任务的变化要求开发低成本和可重构的机械手，这是快速切换的关键。这在当前的经济危机中变得更加重要，并可能有助于英国政府承诺的制造业复苏。多工作模式并联机器人的创新设计正是针对这一需求而提出的。多操作模式并联机器人属于一类新型的可重构机器人，它可以像Transformer一样适应不断变化的环境和生产要求，具有并联机器人的特点，具有多臂结构，而不是传统工业机器人的单臂结构。尽管近年来可重构机器人和并联机器人的研究取得了很大的进展，但可重构并联机器人的研究仍处于起步阶段。本计画旨在探讨具有多种操作模式之并联机器人之创新设计。与目前提出的可重构机器人不同，具有多个操作模式的并联机器人需要较少的驱动器，并且不需要拆卸进行重构。最近，我们得到了一族具有多种操作模式的并联机器人，它们可以用来控制沿沿着三个正交平面的平面运动。在我们的设计中，只需要三个驱动器，而如果使用当前的工业机械手来执行相同的任务，至少需要六个驱动器。该项目将导致开发一个通用的框架，用于设计具有多种操作模式的并联机械手。将讨论两个问题：a）如何发明具有多种操作模式的并联机器人，以及B）如何重构具有多种操作模式的并联机器人。这项研究将开发一个系统的方法和框架的设计创新的并联机器人与多种操作模式的基础上，在机构和机器科学，机器人，数学和控制的进步。将建造一个原型，利用先进的建模、计算机辅助设计、快速原型制作和控制技术来证实和验证拟议的方法。这项研究将有利于机构，机器人和自动化，机电一体化和产品设计领域的学术界，并可能进一步扩展到生物医学研究，如蛋白质折叠和错误折叠。它还将使所有行业的用户受益，他们将提高生产力和更好的产品。进一步的研究可能会导致低成本和节能的机械手。

项目成果

Type Synthesis of 3-DOF Parallel Manipulators With Both Planar and Translational Operation Modes

具有平面和平移操作模式的三自由度并联机械臂的类型综合

• DOI: 10.1115/detc2011-48510
• 发表时间: 2011
• 作者: Kong X

Geometric Interpretation of Singular Configurations of a Class of Parallel Manipulators

一类并联机械手奇异构型的几何解释

• DOI: 10.1115/detc2011-48165
• 发表时间: 2011
• 作者: Kong X

Type Synthesis of Kinematically Redundant 3T1R Parallel Manipulators

运动冗余3T1R并联机器人的类型综合

• DOI: 10.1115/detc2013-12575
• 发表时间: 2013
• 作者: Kong X

Type Synthesis of 3-DOF Multi-Mode Translational/Spherical Parallel Mechanisms with Lockable Joints

• DOI: 10.1016/j.mechmachtheory.2015.04.019
• 发表时间: 2016-02
• 期刊: Mechanism and Machine Theory
• 影响因子: 5.2
• 作者: X. Kong;Yan Jin

Classification of Screw Systems Composed of Three Planar Pencils of Lines

三支平面线笔组成的螺杆系统分类

• DOI: 10.1115/detc2012-70636
• 发表时间: 2012
• 作者: Kong X