Geometric modeling for kinematics and inspection of multibody systems

多体系统运动学和检查的几何建模

• 批准号: 139964-2008
• 负责人: ZsomborMurray, Paul
• 金额: $ 1.38万
• 依托单位: McGill University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2011
• 资助国家: 加拿大
• 起止时间: 2011-01-01 至 2012-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=475916
• 关键词: Geometric; modeling; kinematics; inspection; multibody

A short description of this proposal might be "Design for Extreme Environments" via application of "Geometry in Mechanics". Such environments include unusual ones like the inside of a living artery or a hot steel convertor and the more ordinary fast, precise measurement and material handling systems that must operate in hostile surroundings. Context is the applicant's participation in the NSERC/McGill Design Engineering Chair's team. Problems are solved using geometric methods, often in spaces of dimension greater than 3. Geometric considerations arise because, for example, inserting a coronary stent requires it to bend while, like a road culvert, it must be radially stiff. The perforation pattern of this tube is a design feature that should be related to certain curves on its surface called geodesics. These curves, or fair approximations thereof, appear in roadway structures, e.g., elements of a tubular bridge on a curve. In contrast, here high bending strength is required. Finally these (possibly) shortest curves-on-the-"dough-nut" appear in planning the path that a simple robot arm, with only elbow and wrist joints, must follow to stay as close as possible to a straight line. This joint arrangement does not permit it to do so exactly. Try to do it with a pointer in your hand and your upper arm immobile. If the latter appears frivolous and without practical importance it was nevertheless useful for motion programming of a miniature, automated robotic excavator used to prepare sewers for relining in places like Vienna and Calcutta. The dough-nut is called a torus. This and surfaces of 2nd degree, called quadrics, play the major geometric role in the theoretical part of the proposed research. Properties of quadrics are used, for example, to reveal awkwardness in robots, called "singularity", where it should not exist; that is in robots with a more than sufficient number of joints designed specifically to avoid such embarassment. It is proposed to extend these techniques to other types of manupulators and robotic systems and also to the camera-aided precision metrology of cylindrical and similarly shaped parts.

这个建议的简短描述可能是“极端环境设计”通过应用“几何力学”。这些环境包括不寻常的环境，如活动脉或热钢罐的内部，以及必须在恶劣环境中运行的更普通的快速，精确的测量和材料处理系统。背景是申请人在NSERC/麦吉尔设计工程主席的团队的参与。问题是用几何方法解决的，通常是在大于3维的空间中。例如，插入冠状动脉支架需要它弯曲，而像公路涵洞一样，它必须是径向刚性的，因此需要考虑几何形状。这种管的穿孔图案是一种设计特征，应该与其表面上的某些曲线（称为测地线）有关。这些曲线或其合理近似出现在道路结构中，例如，曲线上的管桥元件。相反，这里需要高的弯曲强度。最后，这些（可能）最短的“甜甜圈”曲线出现在规划路径时，一个简单的机器人手臂，只有肘关节和腕关节，必须遵循尽可能接近直线。这种联合安排不允许它这样做。尝试用手中的指针进行操作，并且上臂不动。虽然后者显得微不足道，没有实际意义，但它对微型自动机器人挖掘机的运动编程很有用，该机器人挖掘机用于准备维也纳和加尔各答等地的下水道重新衬里。这个圆环叫做环面。这和表面的第二度，称为二次曲面，发挥主要的几何作用，在理论部分的拟议研究。例如，二次曲面的性质被用来揭示机器人中的尴尬，称为“奇点”，它不应该存在;也就是说，在机器人中，有足够多的关节专门设计来避免这种尴尬。建议将这些技术扩展到其他类型的机械手和机器人系统，以及圆柱形和类似形状零件的相机辅助精密计量。