Design and Control of Mechanical Systems

我现在的研究计划比以前的更广泛。针对流动性降低系统的应用程序的基础工作正在顺利进行。未来的工作沿着这些线现在将集中在一个快速拾取和放置（P&P）机器人的动态平衡。工作将继续在两个机器人上进行，它们使用两个自由度的驱动器（两自由度），被称为C驱动器，我从头开始设计，基于核心理论运动学，在李群的框架内，然后进入概念层面，具体化，详细设计，并进行调试。两个相同的原型现在已经安装在一个四自由度机器人上，用于快速P&P操作和几乎无限的抓取能力，这是一个台湾团队提出的架构。最后一个功能是一个主要的成就，旨在响应用户的挑战性功能：最低限度的180度旋转能力的夹具。目前的商业系统已经用高度复杂的机制来应对这一挑战，这些机制是已知的，非正式的，是故障的来源。

My research proposal is now broader than the previous one. The fundamental work targeting applications aimed at systems with reduced mobility is well under way. The work ahead along these lines will now focus on the dynamic balancing of a fast pick-and-place (P&P) robot. Work will continue on  two robots that use the two-degree-of-freedom drive (two-dof), dubbed C-drive, that I designed from scratch, based on hard-core theoretical kinematics, in the framework of Lie groups, then went on to the conceptual level, the embodiment, the detailed design, and on to the commissioning. Two identical prototypes have now been mounted on a four-dof robot for fast P&P operations and virtually unlimited rotatability of its gripper, an architecture proposed by a Taiwanese team. The last feature is a major achievement, that aims to respond to a users' challenging feature: a 180-deg rotation capability of the gripper as a minimum. Current commercial systems have responded to this challenge with highly complex mechanisms that are known, off-the-record, to be sources of failure.