Tools to Support Research in Agile Mechanical Systems

敏捷机械系统代表了一类为高速机动而设计的机械系统。这其中的两个例子是Schönfys--运动发生器，也就是。并行SCARA(选择性顺应装配机械臂)系统，以及用于抓取漂浮物的抓取器。前者需要坚固而轻便的结构，能够承受较高的工作频率。例如，据报道，这类商用机器人能够在三分之一秒内以开放矩形的形式执行循环测试，需要穿越700毫米长的路径，其移动的平板产生高达15g的加速度。由于这个周期包括方向的急剧变化，所涉及的激励频率可以达到1 kHz的数量级，远远超出机械结构激励的典型值。此外，所讨论的结构是超静态的，这意味着微小的制造错误使闭合的运动链无法组装。我们打算利用健壮性来应对这类系统所带来的设计和控制挑战。上述类型的抓取器有一个同样具有挑战性的特点：在快速握住漂浮物的同时，抓取动作应该足够柔和，以避免损坏易碎的物体。后者的应用超越了对漂浮在太空中的物体的明显抓取，包括在机器人辅助的外科手术中抓取活组织。本申请中要求的工具旨在支持实验工作，这些实验工作旨在验证使用连续介质力学和多体力学(包括运动链理论和控制理论和系统理论)的可靠知识建立的模型。

Agile mechanical systems represent a class of mechanical systems designed for high-speed manoeuvres. Two examples of these are Schönflies-motion generators, a.k.a. parallel SCARA (Selective Compliance Assembly Robot Arm) systems, and grippers intended to grasp drifting objects. The former require a stiff, yet light structure, capable of withstanding high operation frequencies. For example, one commercial robot of this class, capable of performing a cycle test that requires traversing a 700-mm path, in the form of an open rectangle, in one-third of a second, reportedly produces accelerations of its moving plate of up to 15g. As this cycle includes sharp changes of direction, the excitation frequencies involved can be of the order of 1 kHz, well beyond a typical value for the excitation of a mechanical structure. Moreover, the structure in question is hyperstatic, which means that small manufacturing errors render the closed kinematic chain impossible to assemble. We intend to cope with the design and control challenges posed by such systems using robustness. Grippers of the above kind involve one not less challenging feature: while grabbing the drifting object with a fast closing of its fingers, the gripping action should be gentle enough to avoid breaking fragile objects. Applications of the latter, beyond the obvious grabbing of objects drifting in space, include the grasping of living tissue in robot-assisted surgical operations. The tools requested in this application are intended to support experimental work intended to validate the models formulated using sound knowledge of continuum mechanics and multibody mechanics, including the theory of kinematic chains, besides control and system theory.