Research Initiation Award: Modular Singularity-Free Manipulation Systems

9309461 Long这项研究是为了开发一种称为运动学模块的关节家族，它是无奇点的，并为终端连杆提供三个笛卡尔自由度。奇点的避免是通过使用冗余驱动器来实现的，冗余对于避障和容错操作也是潜在的有用的。螺旋理论是用来刻画螺旋群的分析工具，并由群论和代数曲面的概念补充。模糊推理技术用于辅助执行机构的选择和划分。如上所述的运动学模块可以配置成针对特定应用进行优化的机器。潜在的应用包括清除危险废物、建筑、空间和海底探索，以及为残疾人提供康复援助。

9309461 Long This research is for the development of a family of joints called kinematic modules, which are singularity free and provide three Cartesian degrees of freedom for a terminal link. Singularity avoidance is achieved by the use of redundant actuators, the redundancy also being potentially useful for obstacle avoidance and fault tolerant manipulation. Screw theory is used as the analytical tool to characterize screw groups, and is complemented by notions from group theory and algebraic surfaces. Fuzzy inference techniques are used to assist in actuator selection and partitioning. Kinematic modules such as those described above can be configured into machines optimized for specific applications. Potential applications include hazardous waste removal, building construction, space and undersea exploration, and rehabilitative aids for the handicapped.