Cable-Driven Parallel Manipulators with Extensible Rods

带可伸缩杆的电缆驱动并联机械手

• 批准号: RGPIN-2017-04248
• 负责人: Carretero, Juan
• 金额: $ 1.6万
• 依托单位: University of New Brunswick
• 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=760146
• 关键词: Cable; Driven; Parallel; Manipulators; Extensible

Redundancy of different types in the context of serial manipulators has reached a good level of maturity over the years. Most notably, kinematic redundancy (i.e., adding more joints and links than those strictly required by the task) for better kinematic performance or obstacle avoidance has been the focus of a number of works and successful manipulator designs (e.g., Canadarm). In parallel manipulators (PMs), however, redundancy is still in its infancy. Some recent works have used redundancy to tackle a few common issues of PMs (e.g., small and/or highly singular workspaces) and to develop new or improved manipulator architectures. The research proposed here will study actuation redundancy from theoretical and practical perspectives.In terms of actuation redundancy, the focus will be on Cable Driven Parallel Manipulators (CDPMs) which have potentially large workspaces. Although it is possible to design CDPMs with very large workspaces (e.g., the SkyCam), the resulting CDPMs have a very large footprints as well. This is mostly due to the fact that cables can only pull and always need to be kept in tension. Here, it is proposed to enhance CDPMs with actuated coiled or telescopic struts that will essentially create manipulators with hybrid actuation. Since the new actuated members would permit both pushing and pulling, the region in space in which the manipulator can perform tasks can be extended quite significantly.Efficiently determining the region in which a manipulator can apply or sustain a certain minimum force/moment couple is essential to determining the best manipulator for a specific task. New methods and efficient computational tools are required to perform this task fast enough to allow optimal design of manipulators. With these methods and tools, a robot designer would be able to determine the number, placement and characteristics of all the actuators (whether they are cables or coiled/telescopic struts) to perform the desired task.An important part of the proposed work is the study and design of the actuators using either tape springs or novel elements such as slit tubes or bistable composite tubes. These light members can be deployed from a spool yet they can sustain axial forces in both directions. That is, they will allow forces to be applied both in tension and compression while having relatively long strokes. Although variants of this technology have existed for over two decades, they have been used on low speed applications such as deployable space structures. Here, the intention is to use the technology in relatively high speed applications. These actuators will greatly enhance the scope and allow new practical application of CDPMs.Overall, this work will give robot designers better design tools for PMs and a larger selection of kinematic architectures. A very significant by-product of the work will be the development and design of extensible rods for high speed applications.

多年来，在串行机械手的背景下，不同类型的冗余已经达到了一个很好的成熟水平。最值得注意的是，运动冗余（即，增加比任务严格要求的更多的接头和连杆）以获得更好的运动学性能或障碍物避免已经成为许多工作和成功的操纵器设计的焦点（例如，Canadarm）。然而，在并联机器人（PMs），冗余仍处于起步阶段。最近的一些工作已经使用冗余来解决PM的一些常见问题（例如，小的和/或高度奇异的机器人）和开发新的或改进的操纵器结构。本文从理论和实践两个方面对驱动冗余度进行了研究，在驱动冗余度方面，重点研究了具有潜在大冗余度的索驱动并联机器人。尽管可以设计具有非常大的带宽的CDPM（例如，SkyCam），所得到的CDPM也具有非常大的覆盖区。这主要是由于电缆只能拉动，并且始终需要保持张力。这里，提出了用致动的盘绕或伸缩支柱来增强CDPM，这将基本上产生具有混合致动的操纵器。由于新的致动构件将允许推和拉，在空间中的区域中，机械手可以执行任务可以相当显着地扩展。有效地确定区域中的机械手可以施加或维持一定的最小力/力矩对是必不可少的，以确定最佳的机械手为特定的任务。需要新的方法和有效的计算工具来执行这项任务足够快，以允许优化设计的机械手。有了这些方法和工具，机器人设计者将能够确定的数量，放置和所有的驱动器（无论是电缆或盘绕/伸缩struts）的特性，以执行所需的task.An的一个重要组成部分，拟议的工作是研究和设计的驱动器使用无论是带弹簧或新的元素，如缝管或复合管。这些轻构件可以从线轴展开，但它们可以承受两个方向上的轴向力。也就是说，它们将允许在拉伸和压缩两者中施加力，同时具有相对长的冲程。虽然这种技术的变体已经存在了二十多年，但它们一直用于低速应用，如可展开的空间结构。这里，目的是在相对高速的应用中使用该技术。这些驱动器将大大提高范围，并允许新的实际应用CDPMs.Overall，这项工作将给机器人设计人员更好的设计工具，PM和更多的运动学架构的选择。这项工作的一个非常重要的副产品将是高速应用的可伸缩杆的开发和设计。