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: 2022
• 资助国家: 加拿大
• 起止时间: 2022-01-01 至 2023-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=754492
• 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.

机器人将很快协助或与人类合作完成重复性任务，重负载处理或提高精细任务的精度。然而，开发可以在实际尺寸范围内表现得与人类肌肉一样好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，人类的手包含29个主要关节，123条韧带和34块肌肉，这还不包括它的神经和动脉网络。目前没有机器人解决方案在如此小的集成封装中提供这种级别的性能。这项发现补助金提案旨在为协作机器人开发高度集成、高带宽和高扭矩密度的致动器阵列（例如：机器人手）的磁流变（MR）离合器。该研究建立在最近的结果基础上，这些结果表明，MR致动器在需要大扭矩的航空航天应用中具有改变游戏规则的潜力（例如：100 Nm）。然而，小型、高度集成的系统（如机器人手）的潜力需要低扭矩（例如：0.1 Nm），还有待研究。该提案的第一个研究轴将集中在小规模，高度集成的系统的最佳硬件。这项工作将开发MR离合器，利用新的流体行为（例如：挤压加强）以提高扭矩输出。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。该提案的第二个研究轴将集中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。这项工作将开发一个手一样的夹具使用一个电机喂养多个（例如：10)微型MR离合器耦合到肌腱架构，以驱动每个机器人手指。将开发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，以评估所提出的方法的技术潜力。总之，这项工作将提供机器人技术，使人与机器之间的安全互动。与人类密切合作的外骨骼和制造机器人等设备将成为现实，这将使加拿大人在生活的几个方面受益。