Manipulation devices with redundancy and failure-safety

现有和潜在的分支和联合布局以及并联机械臂（pm）的联合编码器（和/或执行器）的数量将被调查[多个分支支持一个共同的有效载荷]。将确定不同任务自由度（DOF）数量的基本运动学和力问题的解析闭式解（目标(A)）。（B)将开发利用冗余编码和/或驱动元件的解决方案和算法，用于：1)已识别的pm的故障检测（FD）和故障安全（FS）； 2）确保准确的单向驱动器力（用于驱动的移动关节）和/或扭矩（用于驱动的旋转关节）。将评估在危险工作环境中用于控制机器人设备（rd）的基于pm的主臂（MAs）所需的驱动（目标(C)）。包括：1)设计力反射式永磁控制系统，该系统使用现有的直流伺服电机；2)实现基于FD和FS的永磁控制系统，用于控制水下航行器-操纵器系统。

Existing and potential branch and joint layouts and the number of joint encoders (and/or actuators) for parallel manipulators (PMs) [multiple branchs supporting a common payload] will be investigated. Analytical closed-form solutions to fundamental kinematic and force problems for different numbers of task Degrees of Freedom (DOF) will be identified (objective (A).) (B) Solutions and algorithms for utilizing redundant encoding and/or actuation elements will be developed for: Bi) fault-detection (FD) and failure-safety (FS) for the identified PMs and for Bii) ensuring accurate uni-directional actuactor forces (for actuated prismatic joints) and/or torques (for actuated revolute joints.) The actuation required for PM-based Master Arms (MAs) for the control of Robotic Devices (RDs) in hazardous work enviroments will be evaluated (objective (C).) Included is Ci) design of force-reflective PM-based MAs which use existing DC servo-motors, Cii) implementation of FD and FS PM-based MAs for the control of Underwater Vehicle-Manipulator systems.