Hybrid macro-micro robotic systems: principles, technologies, and applications

混合宏微机器人系统：原理、技术和应用

• 批准号: 355742-2009
• 负责人: Ouyang, Puren
• 金额: $ 1.75万
• 依托单位: Ryerson University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2012
• 资助国家: 加拿大
• 起止时间: 2012-01-01 至 2013-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=504879
• 关键词: Hybrid; macro; micro; robotic; systems

The conventional paradigm to cope with the challenge to further improve performances and reduce costs of mechatronic systems is to have different technologies brought together to meet different requirements. This approach may come to a limit as each technology has a side effect with respect to others. Hybridization of engineering system, a new paradigm developed by the PI, may bring some promise in that it learns from biological systems hybridization - with an emphasis on the complementary behaviour of two technologies or systems to be integrated in terms of their strength and weakness. The long-term goal of this research program is to develop a general hybrid macro-micro robotic system (HMMRS) technology with an important characteristic that is large workspace with high accurate end-effector positioning. The methodology includes the integrated design of micro motion system and macro motion system to reduce or eliminate their interaction, and the design for control method to facilitate control system design.

为了科普进一步提高机电系统性能和降低成本的挑战，传统的范例是将不同的技术结合在一起以满足不同的要求。这种方法可能会受到限制，因为每种技术都会对其他技术产生副作用。工程系统杂交是PI开发的一种新范式，它可能会带来一些希望，因为它从生物系统杂交中学习-强调两种技术或系统的互补行为，以整合它们的优势和劣势。本研究计划的长期目标是开发一种通用的宏微混合机器人系统（HMMRS）技术，其重要特征是具有高精度末端执行器定位的大工作空间。该方法包括微运动系统和宏运动系统的集成设计，以减少或消除它们之间的相互影响，以及控制方法的设计，以方便控制系统的设计。