Rapid Prototyping for Robotics
Rapid Prototyping for Robotics
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机器人快速原型制作
DOI：
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发表时间：
2005
期刊：
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通讯作者：
T. Laliberté
中科院分区：
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作者：
I. Ebert‐Uphoff;C. Gosselin;D. Rosen;T. Laliberté
机器人机构的设计是一个涉及几何、运动学、动力学、公差和应力分析的复杂过程。在实际系统的设计中，通常会考虑物理原型的构建。事实上，物理原型可以帮助设计者识别提议的体系结构的基本特征和潜在陷阱。然而，使用传统技术设计和制造原型是相当漫长、繁琐和昂贵的。在这种情况下，可以利用快速成型机的可用性，以便使机器人机构或其他系统的设计者能够以低成本快速地制造原型。本章总结了两个研究小组的研究经验，一个在拉瓦尔大学，另一个在佐治亚理工学院，研究机构的快速原型。这两个小组分别采用了两种不同类型的快速成型技术，熔融沉积成型(FDM)和立体光固化(SL)，本章将介绍这两种技术的使用。这里讨论的两种类型的快速成型技术，FDM和SL，都是基于加法制造原理，即通过向整体添加材料来制造零件，而不是像传统加工工艺那样从整体中减去材料。FDM和SL都是通过一层接一层地构建CAD模型来构建三维零件，这使得使用传统工艺构建具有任何所需内部和外部几何形状的零件所需的时间和成本只需一小部分(Ashley，1995)。因此，附加制造为快速高效地构建机械原型提供了几个优势：·快速周转时间，从而促进许多设计迭代；·对部件复杂性没有限制，因为具有复杂几何形状的部件可以与具有简单几何形状的部件一样快速且廉价地制造；·由于大多数部件都是“自制”的，因此不存在制造商仅提供特定尺寸的部件的问题；·由于设计者可以在构建过程中接触到部件的内部，附加制造提供了新的设计可能性(Binnard，1999)。可以利用这些能力来产生捷径，消除对紧固件的需要和原型组装的需要。根据要建立原型的系统的开发阶段，可以采用不同的策略：(A)在试验的早期阶段，主要目标是快速实现提供所需系统的基本功能的原型。实施详情
The design of robotic mechanisms is a complex process involving geometric, kinematic, dynamic, tolerance and stress analyses. In the design of a real system, the construction of a physical prototype is often considered. Indeed, a physical prototype helps the designer to identify the fundamental characteristics and the potential pitfalls of the proposed architecture. However, the design and fabrication of a prototype using traditional techniques is rather long, tedious and costly. In this context, the availability of rapid prototyping machines can be exploited in order to allow designers of robotic mechanisms or other systems to build prototypes rapidly and at a low cost. This chapter summarizes the research experience of two research groups, one at Universit´e Laval, the other at Georgia Tech, concerning the rapid prototyping of mechanisms. The two groups employed two different types of RP technology, Fused Deposition Modeling (FDM) and Stereolithography (SL), respectively, and the use of both is described in this chapter. The two types of Rapid Prototyping technologies considered here, FDM and SL, are both based on the principle of Additive Fabrication, i.e. parts are built by adding material to the whole, as opposed to subtracting material from the whole (as is done in traditional machining processes). FDM and SL both build three-dimensional parts from a CAD model by building one layer after the other, which facilitates the construction of parts with any desired internal and external geometry in a fraction of the time and cost necessary to build them using a conventional process (Ashley, 1995). Additive Fabrication therefore provides several advantages for the quick and efficient construction of mechanical prototypes: • Quick turn-around time, thus facilitating many design iterations; • No limits on part complexity, as parts with complex geometry can be built just as quickly and cheaply as parts with simple geometry; • Since most components are “self-made”, there are no issues of components being available only in certain sizes from a manufacturer; • Since the designer has access to the interior of the part during the build process, Additive Fabrication provides novel design possibilities (Binnard, 1999). These capabilities can be exploited to yield short-cuts that eliminate the need for fasteners and the need for assembly of the prototypes. Depending on the stage of development of the system to be prototyped, different strategies may be employed: (A) At an early stage of experimentation the main goal is to quickly achieve a prototype that provides the basic functionality of the desired system. Implementation details