Synthesis and control of self-adaptive mechanisms

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The research program proposed aims at synthesizing and controlling several prototypes of self-adaptive mechanisms. In particular, the research program will focus on 1) the synthesis of self-adaptive mechanisms using linkage transmission with and without compliant joints, and 2) the development of dedicated intelligent control laws for self-adaptive mechanisms. Over the past few years, mechatronic systems have been proposed taking advantage of an intelligent mechanical design. Self-adaptive mechanisms are a subset of mechanically intelligent systems where part of the control task is taken in charge by the mechanical layout of the system rather than to an electronic board. Despite the fact that self-adaptive mechanisms have been known for centuries, the most common designs are repeatedly re-discovered. The goal of the proposed research initiative is to create a dynamic that will promote a next generation of mechatronic devices, taking advantages of the combination of intelligent design and intelligent control. Focus will be put on 1) the synthesis of transmission systems based on an analysis technique developed by the applicant and 2) the development of dedicated control laws to take advantage of the self-adaptive behaviour of the systems. The results of this research will be initially applied to grasping and locomotion, but are expected to be of interest for a vast area of applications. Challenging issues will be addressed in this research and the impact on the research field is expected to be significant. The research program proposed here has numerous potential applications which are in areas where Canadian companies are at the forefront of the technology, e.g. spatial, inspection and surgical robotics.