Design and Control of Mechanical Systems

机械系统的设计与控制

• 批准号: RGPIN-2015-03864
• 负责人: Angeles, Jorge
• 金额: $ 4.01万
• 依托单位: McGill University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2017
• 资助国家: 加拿大
• 起止时间: 2017-01-01 至 2018-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=638365
• 关键词: Design; Control; Mechanical; Systems

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.

我的研究计划现在比以前的更广泛。针对移动性较低的系统的应用的基础工作正在顺利进行。接下来的工作将集中在快速取放 (P&P) 机器人的动态平衡上。我们将继续研究两个使用二自由度驱动器（二自由度）的机器人，称为 C 驱动器，这是我在李群框架内基于硬核运动学理论从头开始设计的，然后进入概念层面、实施例、详细设计和调试。两个相同的原型现已安装在四自由度机器人上，用于快速 P&P 操作，并且其夹具几乎可以无限旋转，这是台湾团队提出的一种架构。最后一个功能是一项重大成就，旨在响应用户具有挑战性的功能：夹具至少具有 180 度旋转能力。当前的商业系统已经通过高度复杂的机制来应对这一挑战，这些机制是非公开已知的故障根源。