High performance parallel manipulators

高性能并联机械手

• 批准号: 200661-2009
• 负责人: Notash, Leila
• 金额: $ 1.82万
• 依托单位: Queen's 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=476790
• 关键词: performance; parallel; manipulators

Robot manipulators generally consist of links connected by joints, either in an open-loop configuration (referred to as serial manipulators) or in a closed-loop configuration (referred to as parallel manipulators). It is also possible to have combinations of open-loop and closed-loop modules (hybrid layout). A robot manipulator is reliable if any failure/malfunction, which terminates the ability of robot to perform a required task, would not result in an unsafe system. It is safe if it causes no injury or damage to the operator, environment and itself and is fail-safe if the system can be stopped safely after a failure. A fault-tolerant manipulator can complete its task safely after any failures. With proper design, parallel manipulators can have high accuracy, stiffness, load capacity, and dynamic characteristics (e.g., high accelerations). Because of these advantages, the potential market for parallel manipulators has been expanding to areas such as high speed manipulation, material handling, motion platforms, machine tools, medical fields, planetary exploration and so on. Therefore, methodologies for the design of optimum, reliable, safe, fault tolerant and high performance parallel manipulators are essential. The development of such design and solution methodologies is the objective of the current research proposal. The design of manipulators will be optimized based on specific criteria by combining serial and parallel designs, taking into account the cost of manufacturing and operation, and utilizing standard components and modular designs. Modelling and analysis of these designs will be investigated. Different levels of redundancy, e.g., redundant component (such as joints) and redundant information (such as internal and/or external sensors), will be considered and methodologies for redundancy resolution will be explored. While working on these projects, the students will develop and/or hone technical knowledge, hands-on expertise and communication skills. Therefore, highly qualified engineers will be trained in the areas of robotics, design, modelling, analysis, simulation, calibration and diagnosis. This, in turn, will enhance Canada's competitiveness in the growing potential market of parallel devices for diverse applications.

机器人机械手通常由关节连接的连杆组成，可以是开环结构(称为串联机械手)，也可以是闭环结构(称为并联机械手)。还可以组合开环和闭环模块(混合布局)。如果终止机器人执行所需任务的能力的任何故障/故障不会导致系统不安全，则机器人操作器是可靠的。如果它不会对操作员、环境和自身造成伤害或损坏，则是安全的；如果系统在故障后能够安全停止，则是故障安全的。容错机械手在发生任何故障后都能安全地完成任务。通过合理的设计，并联机器人可以具有高精度、高刚度、高承载能力和高动态特性(例如，高加速度)。由于这些优势，并联机器人的潜在市场已经扩展到高速操纵、材料搬运、运动平台、机床、医疗领域、行星探测等领域。因此，设计最优、可靠、安全、容错、高性能的并联机器人是十分必要的。开发这种设计和解决方法是本研究提案的目标。机械手的设计将根据特定的标准进行优化，将串联和并行设计结合起来，考虑制造和操作的成本，并利用标准部件和模块化设计。将对这些设计进行建模和分析。将考虑不同级别的冗余，例如冗余部件(如接头)和冗余信息(如内部和/或外部传感器)，并探索解决冗余的方法。在这些项目的工作中，学生们将发展和/或磨练技术知识、实践经验和沟通技能。因此，将在机器人、设计、建模、分析、模拟、校准和诊断领域培训高素质的工程师。这反过来又将增强加拿大在不断增长的潜在市场上的竞争力，即用于不同应用的并行设备。