Hyper-actuated flexure-link structures for high performance bearing-free servo mechanisms

机器人和自动化机械中使用的传统机构具有带有轴承部件的关节，这些关节彼此碰撞、滚动和滑动。相关的相互作用力对小规模运动有影响，当使用电机或其他形式的致动自动控制运动时，小规模运动限制了可实现的精度。这对各种工业流程的质量和效率产生了负面影响，包括制成品的组装和检查。如果轴承被紧凑的可变形结构代替，作为伪关节，那么小规模的运动行为变得更可预测和精确。使用不摩擦、不磨损或不需要润滑的部件可获得额外的优势。然而，出现的一个新问题是，柔性关节引入了机构可以移动和振动的其他方式。这些运动必须通过适当的驱动和控制方案进行调节。需要研究如何最好地设计伪关节结构，以实现精确的运动控制，不仅用于精确定位，而且在快速大规模的配置变化，而不会引起不必要的振荡或不稳定性。如何将驱动力应用于机构结构是一个重要的考虑因素，但数学模型的创建和使用也是如此：1。设计机构以实现速度、精度和运动范围的最佳平衡。2.开发将在计算机上运行的算法，以调节驱动力，从而实现精确的运动控制。本研究将找到解决这些问题的新方法，并通过原型的设计和实验评估来评估其有效性。

Conventional mechanisms used in robotics and automated machinery have joints with bearing parts that collide, roll and slide against each other. The associated interaction forces have an effect on small-scale motion that limits achievable accuracy when motion is controlled automatically using motors or other forms of actuation. This impacts negatively on the quality and efficiency of various industrial processes, including the assembly and inspection of manufactured products. If bearings are replaced by compact deformable structures acting as pseudo-joints then small-scale motion behaviour becomes more predictable and precise. Additional advantages are derived from the use of parts that do not rub or wear or require lubrication. A new issue that arises, however, is that flexible joints introduce additional ways in which a mechanism can move and vibrate. These motions must be regulated through suitable actuation and control schemes. Research is needed on how best to design pseudo-jointed structures to achieve accurate control of motion, not only for precise positioning but also during rapid large-scale configuration changes, without causing unwanted oscillations or instabilities. How to apply actuation forces to a mechanism structure is an important consideration here, but so also is the creation and use of mathematical models to: 1. Design mechanisms for an optimized balance of speed, precision and range of motion. 2. Develop algorithms that will run on a computer to regulate actuation forces and thereby achieve precise control of motion.This research will find new ways to solve these problems and evaluate their effectiveness by design and experimental assessment of prototypes.