Integrated Magnetorheological Actuator Arrays for Robotic Hands

用于机械手的集成磁流变执行器阵列

• 批准号: RGPIN-2017-06213
• 负责人: Plante, JeanSébastien
• 金额: $ 3.21万
• 依托单位: Université de Sherbrooke
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2018
• 资助国家: 加拿大
• 起止时间: 2018-01-01 至 2019-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=662295
• 关键词: Integrated; Magnetorheological; Actuator; Arrays; Robotic

Robots will soon be assisting or collaborating with people for repetitive tasks, heavy load handling, or improving precision on delicate tasks. However, developing actuator systems that can perform as well as human muscles within a practical size envelope remains a major challenge, if not a significant roadblock. The human hand for instance, packages 29 major joints, 123 ligaments, and 34 muscles, and this does not even account for its network of nerves and arteries. No present robotic solution offers this level of performance in such a small, integrated package. ******This Discovery Grant proposal aims at developing highly integrated, high-bandwidth and high-torque-density actuator arrays for collaborative robots (e.g.: robotic hand) based on magnetorheological (MR) clutches. The research builds on recent results demonstrating that MR actuators have game changing potential for aerospace applications which require large torques (e.g.: 100 Nm). However, the potential for small, highly integrated systems such as robotic hands, which require low torques (e.g.: 0.1 Nm), have yet to be studied. ******A first research axis of this proposal will focus on optimal hardware for small-scale, highly integrated systems. The work will develop MR clutches exploiting novel fluid behavior (e.g.: squeeze-strengthening) to boost torque output. Additive manufacturing as well as PCB-based constructions will be investigated as means to maximize packaging density while simplifying manufacturing and assembly.******A second research axis of this proposal will focus on system-level design and control strategies in the context of developing a robotic hand for collaborative robotics. The work will develop a hand-like gripper using one motor feeding a multitude (e.g.: 10) of miniature MR clutches coupled to a tendon architecture to actuate each robot finger. Control schemes minimizing energy consumption and maximizing dynamic response will be developed. Finally, a fully-functional prototype will be developed and its performance characterize experimentally to assess the technological potential of the proposed approach.******Altogether, the work will provide robotic technologies that will allow safe interaction between man and machine. Devices such as exoskeletons and manufacturing robots working in close collaboration with humans will become a reality that will benefit Canadians in several aspects of their lives.

机器人将在不久的将来协助或与人类合作，完成重复性的任务、处理重负荷或提高精细任务的精度。然而，在实际尺寸的范围内开发出与人类肌肉性能相当的致动器系统仍然是一个重大挑战，如果不是一个重大障碍的话。例如，人手包含29个主要关节，123条韧带和34块肌肉，这还不包括神经和动脉网络。目前还没有机器人解决方案能在如此小的集成封装中提供如此高的性能。******该发现拨款提案旨在开发基于磁流变（MR）离合器的协作机器人（例如：机械手）的高度集成，高带宽和高扭矩密度执行器阵列。该研究基于最近的结果，表明MR执行器在需要大扭矩（例如：100 Nm）的航空航天应用中具有改变游戏规则的潜力。然而，小型、高度集成系统的潜力，如机械手，需要低扭矩（例如：0.1 Nm），还有待研究。******本提案的第一个研究轴将集中在小型、高度集成系统的最佳硬件上。这项工作将开发利用新型流体行为（例如：挤压强化）来提高扭矩输出的磁流变离合器。增材制造以及基于pcb的结构将被研究作为在简化制造和组装的同时最大化包装密度的手段。******本提案的第二个研究轴将集中在开发用于协作机器人的机械手的背景下的系统级设计和控制策略。这项工作将开发一种类似手的抓手，使用一个电机为多个（例如：10个）微型磁共振离合器提供动力，这些离合器与肌腱结构耦合，以驱动每个机器人手指。将制定最小化能耗和最大化动态响应的控制方案。最后，将开发一个功能齐全的原型，并通过实验对其性能进行表征，以评估所提出方法的技术潜力。******总的来说，这项工作将提供机器人技术，使人与机器之间的安全互动成为可能。外骨骼和制造机器人等与人类密切合作的设备将成为现实，这将使加拿大人在生活的几个方面受益。