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: 2013
• 资助国家: 加拿大
• 起止时间: 2013-01-01 至 2014-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=523306
• 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.

机器人机械臂通常由关节连接的连杆组成，有的是开环构型（称为串行机械臂），有的是闭环构型（称为并联机械臂）。也可以有开环和闭环模块的组合（混合布局）。如果任何故障/故障终止了机器人执行所需任务的能力，不会导致系统不安全，则机器人机械手是可靠的。如果不会对操作人员、环境和自身造成伤害或损害，则是安全的；如果系统在发生故障后能够安全停止，则是故障安全的。容错机械手可以在任何故障发生后安全地完成其任务。通过适当的设计，并联机器人可以具有高精度、刚度、负载能力和动态特性（如高加速度）。由于这些优点，并联机器人的潜在市场已经扩展到高速操纵、物料搬运、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、容错和高性能的并联机械臂的方法至关重要。这种设计和解决方法的发展是当前研究计划的目标。考虑制造和运行成本，采用标准件和模块化设计，结合串行和并行设计，根据具体标准对机械手的设计进行优化。这些设计的建模和分析将被调查。将考虑不同级别的冗余，例如冗余组件（如关节）和冗余信息（如内部和/或外部传感器），并探索冗余解决方法。在这些项目中，学生将发展和/或磨练技术知识，实践专业知识和沟通技巧。因此，高素质的工程师将在机器人、设计、建模、分析、仿真、校准和诊断等领域接受培训。反过来，这将增强加拿大在各种应用的并行设备日益增长的潜在市场中的竞争力。