High performance parallel manipulators

点击翻译按钮获取中文摘要

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.