Analysis of self-adaptive robotic mechanisms

自适应机器人机构分析

• 批准号: 327005-2011
• 负责人: Birglen, Lionel
• 金额: $ 1.46万
• 依托单位: École Polytechnique de Montréal
• 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=526781
• 关键词: Analysis; self; adaptive; robotic; mechanisms

The research program proposed in this application aims at developing new architectures of self-adaptive robotic systems for novel applications as well as exploring intriguing properties in the kinematics of these systems. In particular, the research program will focus on 1) the design of self-adaptive mechanisms using linkage-driven transmissions for two novel applications and 2) the development of haptic exploration models. Over the past decades, mechatronic systems have been proposed taking advantage of self-adaptive mechanisms. These mechanisms are characterized by the property of having a part of the control tasks delegated to the mechanical layout of the system rather than to an electronic board. The most well-known application of self-adaptive mechanisms is underactuated grasping where the closing motion of an actuator is mechanically distributed to the several degrees of freedom (DOF) of a robotic hand. This results in a robotic hand which adapts mechanically to the shape of the seized objects without any sensors or dedicated control laws. Self-adaptive mechanisms have only recently been considered in robotics since the still most common trend has been to expect that the growing power of computational devices would allow to easily control all systems with great efficiency despite their inherent complexity. However, this prediction has only been partially fulfilled as the increase of the computation capabilities of modern digital systems has not always been able to overcome all these drawbacks. Underactuated robotic hands have been intensively studied by the applicant during the last decade and the results of this research effort lead to the discovery of hundreds of new mechanical architectures and a methodology to synthesize them based of the analysis of the driven linkage kinematics.

本申请中提出的研究计划旨在为新的应用开发自适应机器人系统的新体系结构，并探索这些系统的运动学中有趣的特性。特别是，该研究计划将重点放在1)为两个新的应用设计使用连杆驱动传动的自适应机构和2)触觉探索模型的开发。在过去的几十年里，人们提出了利用自适应机制的机电一体化系统。这些机构的特点是将部分控制任务委托给系统的机械布局而不是电子电路板。自适应机构最著名的应用是欠驱动抓取，即执行器的闭合运动被机械地分配到机械手的几个自由度(DOF)上。这就产生了一只机械手，它可以在没有任何传感器或专用控制律的情况下，机械地适应被抓获物体的形状。自适应机制直到最近才在机器人学中被考虑，因为仍然最常见的趋势是期望计算设备日益增长的能力将允许轻松高效地控制所有系统，尽管它们本身就很复杂。然而，这一预测只是部分实现了，因为现代数字系统计算能力的增加并不总是能够克服所有这些缺点。在过去的十年里，欠驱动机械手得到了申请人的广泛研究，这项研究的结果导致了数百种新的机械结构的发现，并提出了一种基于从动连杆运动学分析的综合方法。