Design and analysis of hybrid mechanical systems

在许多制造情况下，部件或材料的处理通常由可重新编程的机械装置（例如，机器人操纵器）执行，即，由驱动关节耦合的链接的串联链，因此称为串联操纵器（SM）。另外，并联机械手（PM）是由两个主体耦合的几个串行链上，只有一些关节被驱动，而其他人是被动的。虽然存在后者，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。来自被动关节的机械约束提供了相对于其串行对应物的非常有趣的行为，因此，可以用于串行关节的特性不满足应用要求的情况。因此，相对于类似尺寸的系列永磁体，永磁体可以具有更高的承载能力、更高的定位精度或更高的速度，但也具有更小的工作空间、更多的奇异性问题。这些来自微分学的理论预期都是从设计过程开始就充分理解运动传递和仔细控制接头配件的条件。当一个机构不属于这两个特定类别中的任何一个时，它们都被默认归类为混合操纵器（HM），因此包含所有其他可能的运动学架构。最近，《机械与机器理论》杂志发表了一篇关于并联机器人设计的综述论文，提到“机构设计包括三个重要部分：评估特性、类型综合和尺寸综合，其中类型综合是最原始和最有创造性的一个”。我的研究计划将集中在这个创新领域。该研究计划的主要目标是开发混合机械系统的拓扑结构和几何结构的建模方法，这些方法可用于优化程序，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映射的概念。这个概念已经被专门开发来解决设计问题，其中末端执行器的移动性是已知的要求，而几何形状和部分拓扑结构是未知的。第二个目标是扩展的运动学分析的概念，使用的拓扑图，第三，设计新的架构的并联和混合动力机械手。最后，我们将使用我们的分析工具和综合方法，为特定的应用设计新颖的演示原型。

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.