Design and analysis of hybrid mechanical systems

在许多制造情况下，零件或材料的处理通常由可重新编程的机械设备执行，例如机器人操纵器，即由驱动关节耦合的串联链接链，因此称为串联操纵器（SMs）。另外，并联机械臂（pm）由几个串联链耦合的两个主体组成，其中只有一些关节被驱动，而其他关节则处于被动状态。在一定的几何条件下，尽管存在后者，整个机构仍然是由驱动关节单独驱动的。来自被动关节的机械约束提供了相对于其串行对应物非常有趣的行为，因此，可以在串行关节的特性不满足应用要求的情况下使用。因此，pm可以有更高的承载能力，更高的定位精度或更高的速度，但也有更小的工作空间，更多的奇点问题，相对于类似尺寸的系列。这些来自微分学的理论期望都是从设计过程开始就对运动传递的充分理解和对接头接头的仔细控制的条件。当一个机构不属于这两个特定类别中的任何一个时，默认情况下，它们都被归类为混合机械臂（HMs），从而包含所有其他可能的运动学体系结构。最近，《机械与机械理论》杂志发表了一篇关于并联机械臂设计的综述论文，指出“机构设计包含三个重要部分：特性评价、类型综合和尺寸综合，其中类型综合是最具原创性和创造性的”。我的研究项目将集中在这一创新领域。该研究项目的主要目标是开发混合机械系统的拓扑和几何建模方法，这些建模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图的概念。这个概念是专门为解决设计问题而开发的，其中末端执行器的移动性被称为要求，而几何形状和部分拓扑结构尚不清楚。第二个目标是利用拓扑图扩展运动学分析概念，第三个目标是设计新的并联和混合机械臂结构。最后，我们将使用我们的分析工具和综合方法来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.