Integrated Magnetorheological Actuator Arrays for Robotic Hands
用于机械手的集成磁流变执行器阵列
基本信息
- 批准号:RGPIN-2017-06213
- 负责人:
- 金额:$ 3.21万
- 依托单位:
- 依托单位国家:加拿大
- 项目类别:Discovery Grants Program - Individual
- 财政年份:2019
- 资助国家:加拿大
- 起止时间:2019-01-01 至 2020-12-31
- 项目状态:已结题
- 来源:
- 关键词:
项目摘要
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.
机器人很快就会协助或与人类合作,完成重复性任务、重载处理或提高精细任务的精确度。然而,开发能够在实际尺寸范围内表现出与人类肌肉一样好的执行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,人类的手包含29个主要关节、123个韧带和34块肌肉,这还不包括它的神经和动脉网络。目前的机器人解决方案还没有在如此小的集成组件中提供如此高水平的性能。*这项发现资助计划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的致动器阵列。这项研究建立在最近的研究结果基础上,表明磁流变液致动器在需要大扭矩(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、高度集成的系统,如需要低扭矩(例如:0.1 Nm)的机械手,其潜力还有待研究。*该提案的第一个研究轴将侧重于小规模、高度集成系统的最佳硬件。这项工作将开发利用新的流体行为(例如:挤压强化)来提高扭矩输出的磁流变离合器。加法制造以及基于印刷电路板的结构将作为在简化制造和组装的同时最大化包装密度的手段进行研究。*本提案的第二个研究轴将侧重于在开发用于协作机器人的机器人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手形夹持器,使用一台电机向多个(例如:10个)微型磁流变液离合器供电,连接到肌腱结构以驱动每个机器人手指。将开发最大限度地减少能源消耗和最大限度地提高动态响应的控制方案。最后,将开发一个功能齐全的原型,并对其性能进行实验表征,以评估所提出方法的技术潜力。总而言之,这项工作将提供允许人与机器之间安全交互的机器人技术。外骨骼和制造与人类密切合作的机器人等设备将成为现实,将在生活的几个方面造福加拿大人。
项目成果
期刊论文数量(0)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
数据更新时间:{{ journalArticles.updateTime }}
{{
item.title }}
{{ item.translation_title }}
- DOI:
{{ item.doi }} - 发表时间:
{{ item.publish_year }} - 期刊:
- 影响因子:{{ item.factor }}
- 作者:
{{ item.authors }} - 通讯作者:
{{ item.author }}
数据更新时间:{{ journalArticles.updateTime }}
{{ item.title }}
- 作者:
{{ item.author }}
数据更新时间:{{ monograph.updateTime }}
{{ item.title }}
- 作者:
{{ item.author }}
数据更新时间:{{ sciAawards.updateTime }}
{{ item.title }}
- 作者:
{{ item.author }}
数据更新时间:{{ conferencePapers.updateTime }}
{{ item.title }}
- 作者:
{{ item.author }}
数据更新时间:{{ patent.updateTime }}
Plante, JeanSébastien其他文献
Plante, JeanSébastien的其他文献
{{
item.title }}
{{ item.translation_title }}
- DOI:
{{ item.doi }} - 发表时间:
{{ item.publish_year }} - 期刊:
- 影响因子:{{ item.factor }}
- 作者:
{{ item.authors }} - 通讯作者:
{{ item.author }}
{{ truncateString('Plante, JeanSébastien', 18)}}的其他基金
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 - 财政年份:2022
- 资助金额:
$ 3.21万 - 项目类别:
Discovery Grants Program - Individual
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 - 财政年份:2021
- 资助金额:
$ 3.21万 - 项目类别:
Discovery Grants Program - Individual
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 - 财政年份:2020
- 资助金额:
$ 3.21万 - 项目类别:
Discovery Grants Program - Individual
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:
DGDND-2017-00089 - 财政年份:2019
- 资助金额:
$ 3.21万 - 项目类别:
DND/NSERC Discovery Grant Supplement
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:
507982-2017 - 财政年份:2019
- 资助金额:
$ 3.21万 - 项目类别:
Discovery Grants Program - Accelerator Supplements
Conception d'un système de traction à chenilles agricole par modélisation dynamique multi-corps
多军团动力模型化农业牵引系统构想
- 批准号:
543713-2019 - 财政年份:2019
- 资助金额:
$ 3.21万 - 项目类别:
Collaborative Research and Development Grants
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 - 财政年份:2018
- 资助金额:
$ 3.21万 - 项目类别:
Discovery Grants Program - Individual
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:
DGDND-2017-00089 - 财政年份:2018
- 资助金额:
$ 3.21万 - 项目类别:
DND/NSERC Discovery Grant Supplement
相似海外基金
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 - 财政年份:2022
- 资助金额:
$ 3.21万 - 项目类别:
Discovery Grants Program - Individual
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 - 财政年份:2021
- 资助金额:
$ 3.21万 - 项目类别:
Discovery Grants Program - Individual
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 - 财政年份:2020
- 资助金额:
$ 3.21万 - 项目类别:
Discovery Grants Program - Individual
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:
DGDND-2017-00089 - 财政年份:2019
- 资助金额:
$ 3.21万 - 项目类别:
DND/NSERC Discovery Grant Supplement
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:
507982-2017 - 财政年份:2019
- 资助金额:
$ 3.21万 - 项目类别:
Discovery Grants Program - Accelerator Supplements
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:
507982-2017 - 财政年份:2018
- 资助金额:
$ 3.21万 - 项目类别:
Discovery Grants Program - Accelerator Supplements
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 - 财政年份:2018
- 资助金额:
$ 3.21万 - 项目类别:
Discovery Grants Program - Individual
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:
DGDND-2017-00089 - 财政年份:2018
- 资助金额:
$ 3.21万 - 项目类别:
DND/NSERC Discovery Grant Supplement
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:
DGDND-2017-00089 - 财政年份:2017
- 资助金额:
$ 3.21万 - 项目类别:
DND/NSERC Discovery Grant Supplement
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 - 财政年份:2017
- 资助金额:
$ 3.21万 - 项目类别:
Discovery Grants Program - Individual