Design and Control of Mechanical Systems

我的研究方案现在比之前的方案更广泛。针对机动性降低的系统的应用程序的基本工作正在顺利进行。接下来的工作将集中在快速拾取放置(P&P)机器人的动态平衡上。两个机器人的工作将继续进行，它们使用两自由度驱动(Two-DOF)，被称为C-Drive，这是我在Lie群的框架内，基于核心理论运动学从头开始设计的，然后进入概念层面、实施、详细设计，最后进行调试。两个相同的原型现在已经安装在一个四自由度的机器人上，以实现快速的P&P操作和几乎无限的夹爪旋转，这是一个台湾团队提出的架构。最后一项功能是一项重大成就，旨在回应用户具有挑战性的功能：至少具有180度的手爪旋转能力。目前的商业系统对这一挑战的回应是高度复杂的机制，这些机制是已知的、非记录的、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.