Hyper-actuated flexure-link structures for high performance bearing-free servo mechanisms

机器人和自动化机械中使用的传统机构都有与轴承部件相互碰撞、滚动和滑动的关节。相关的相互作用力对小尺度运动有影响，当运动使用电机或其他形式的驱动自动控制时，会限制可实现的精度。这对各种工业过程的质量和效率产生了负面影响，包括成品的组装和检验。如果将轴承替换为充当伪关节的紧凑可变形结构，那么小尺度运动行为将变得更加可预测和精确。其他优点来自于使用不摩擦或磨损或需要润滑的部件。然而，出现的一个新问题是，柔性关节引入了一个机构可以移动和振动的额外方式。这些运动必须通过适当的驱动和控制方案来调节。需要研究如何最好地设计伪关节结构，以实现精确的运动控制，不仅是为了精确定位，而且在快速的大规模配置变化中，不会造成不必要的振荡或不稳定。如何将作动力应用于机构结构是这里要考虑的一个重要问题，但数学模型的创建和使用也同样重要，以便：为速度，精度和运动范围的优化平衡设计机制。2. 开发将在计算机上运行的算法来调节驱动力，从而实现对运动的精确控制。本研究将通过对原型的设计和实验评估，寻找解决这些问题的新途径，并评估其有效性。

Conventional mechanisms used in robotics and automated machinery have joints with bearing parts that collide, roll and slide against each other. The associated interaction forces have an effect on small-scale motion that limits achievable accuracy when motion is controlled automatically using motors or other forms of actuation. This impacts negatively on the quality and efficiency of various industrial processes, including the assembly and inspection of manufactured products. If bearings are replaced by compact deformable structures acting as pseudo-joints then small-scale motion behaviour becomes more predictable and precise. Additional advantages are derived from the use of parts that do not rub or wear or require lubrication. A new issue that arises, however, is that flexible joints introduce additional ways in which a mechanism can move and vibrate. These motions must be regulated through suitable actuation and control schemes. Research is needed on how best to design pseudo-jointed structures to achieve accurate control of motion, not only for precise positioning but also during rapid large-scale configuration changes, without causing unwanted oscillations or instabilities. How to apply actuation forces to a mechanism structure is an important consideration here, but so also is the creation and use of mathematical models to: 1. Design mechanisms for an optimized balance of speed, precision and range of motion. 2. Develop algorithms that will run on a computer to regulate actuation forces and thereby achieve precise control of motion.This research will find new ways to solve these problems and evaluate their effectiveness by design and experimental assessment of prototypes.