Task-Driven Design of Robotic Mechanisms

9403019公园在本研究项目中，开发了一套完整的机器人机构设计工具。具有少于六个自由度的闭链机构是为满足特定任务要求而设计的。与一般的可编程机器人相比，这些机器人机构拥有更少的致动器，从而降低了总成本。设计过程将机器人机构的工作空间与期望的任务包络相匹配。由此产生的机器人机构在自动化方面提供了新的能力，符合高性能和低成本的目标。该设计工具集成了局部和全局运动学设计过程、闭链动力学分析以及并联机器人系统的运动规划和优化。***

9403019 Park In this research project, an integrated set of design tools are developed for robotic mechanisms. Closed chain mechanisms with fewer than six degrees of freedom are designed to match specific task requirements. In contrast to general programmable robots, these robotic mechanisms possess fewer actuators leading to a reduction in overall costs. The design process matches the workspace of the robotic mechanism to the desired task envelope. The resulting robotic mechanism provides new capabilities in automation that matches the goals of high performance and low cost. The design tool integrates local and global kinematic design procedures, dynamic analysis of closed chains, and motion planning and optimization of parallel robot systems. ***