Design and analysis of hybrid mechanical systems

混合机械系统的设计与分析

• 批准号: RGPIN-2016-06389
• 负责人: Baron, Luc
• 金额: $ 2.4万
• 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: 2016
• 资助国家: 加拿大
• 起止时间: 2016-01-01 至 2017-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=616274
• 关键词: Design; analysis; hybrid; mechanical; systems

In many manufacturing situations, the handling of parts, or materials, is often performed by reprogrammable mechanical devices such as robotic manipulators, i.e., serial chains of links coupled by actuated joints, and thus, called serial manipulators (SMs). Alternatively, parallel manipulators (PMs) are made of two main bodies coupled by several serial chains on which only some joints are actuated, while others are left passive. Although the presence of the latter, the whole mechanism is still drivable by the actuated joints alone under some geometric conditions. The mechanical constraints coming from the passive joints provide very interesting behaviours relative to its serial counterpart, and hence, could be used in situation where the characteristic of serial ones do not satisfy the application requirements. Consequently, PMs could have a higher load-carrying capacity, a higher positioning accuracy or higher velocities, but also a smaller workspace, more problems of singularities, relative to serial ones of similar dimensions. These theoretical expectations coming from the differential calculus are all conditionals to a well understanding of the motion transmission right from the beginning of the design process and a careful control of joint fittings. Whenever a mechanism does not fall into any of these particular two categories, they are all classified by default as hybrid manipulators (HMs), which thus encompass all other possible kinematic architectures. Recently, the journal of Mechanism and Machine Theory published a review paper on the design of parallel manipulators and mentioned that “The mechanism design contains three important parts: evaluating characteristics, type synthesis and dimensional synthesis, among which type synthesis is the most original and the most inventive one”. My research program will focus on this innovative area. The main objective of this research program is to develop modelling methodologies of both topology and geometry of hybrid mechanical systems that could be used in optimization procedures to produce new designs that would have enhanced properties. The first objective is to develop the concept of topological maps that we have recently proposed. This concept has been specifically developed to solve design problems, where the mobility of the end-effector is known as a requirement, while the geometry and partially the topology are yet unknown. The second objective is to extend the kinematic analysis concepts using the topological maps, and third, to design novel architectures of parallel and hybrid manipulators. Finally, we will use our analysis tools and synthesis methodology to design novel demonstration prototypes for specific applications.

在许多制造环境中，零件或材料的处理通常由可重新编程的机械设备来执行，例如机器人机械手，即由致动关节耦合的串联链条，因此被称为串联机械手(SM)。或者，并联机械手(PM)是由两个主体组成的，由多个串联链连接，在这些串联链上只有一些关节被驱动，而另一些则处于被动状态。虽然有后者的存在，但在某些几何条件下，整个机构仍然可以由驱动关节单独驱动。被动关节的力学约束提供了相对于串联关节非常有趣的行为，因此可以用于串联关节的特性不能满足应用要求的情况。因此，与相似尺寸的串联机床相比，机床可能具有更高的承载能力、更高的定位精度或更高的速度，但工作空间更小，奇异性问题更多。这些来自微积分的理论期望都是从设计过程开始就很好地理解运动传递和仔细控制接头的条件。当机构不属于这两个特定类别中的任何一个时，它们都默认被归类为混合机械手(HMS)，因此包含所有其他可能的运动学体系结构。最近，《机构与机器理论》杂志发表了一篇关于并联机器人设计的综述文章，并提到，机构设计包含三个重要部分：评价特性、类型综合和尺寸综合，其中类型综合是最具原创性和最具创造性的。我的研究计划将专注于这一创新领域。这项研究计划的主要目标是开发混合机械系统的拓扑和几何的建模方法，这些方法可以用于优化过程，以产生具有增强性能的新设计。第一个目标是发展我们最近提出的拓扑图的概念。这一概念是专门为解决设计问题而开发的，在这种情况下，末端执行器的移动性是已知的要求，而几何和部分拓扑尚不清楚。第二个目标是利用拓扑图扩展运动学分析的概念，第三个目标是设计新型的并联和混合机械手结构。最后，我们将使用我们的分析工具和综合方法来为特定应用设计新颖的演示原型。