Synthesis and control of self-adaptive mechanisms

提出的研究计划的目的是综合和控制几个原型的自适应机制。特别是，该研究计划将集中在1）自适应机制的合成使用联动传输与不符合关节，和2）专用的智能控制律的自适应机制的发展。在过去的几年中，已经提出了利用智能机械设计的机电一体化系统。自适应机制是机械智能系统的一个子集，其中部分控制任务由系统的机械布局负责，而不是由电子板负责。尽管自适应机制已经存在了几个世纪，但最常见的设计一再被重新发现。拟议研究计划的目标是创造一个动态，将促进下一代机电设备，利用智能设计和智能控制的结合优势。重点将放在1）基于由申请人开发的分析技术的传输系统的合成和2）专用控制律的开发，以利用系统的自适应行为。这项研究的结果最初将应用于抓取和运动，但预计将在广泛的应用领域中发挥作用。在这项研究中将解决的问题，并在研究领域的影响，预计将是显着的。这里提出的研究计划具有许多潜在的应用，这些应用在加拿大公司处于技术前沿的领域，例如空间，检查和手术机器人。

The research program proposed aims at synthesizing and controlling several prototypes of self-adaptive mechanisms. In particular, the research program will focus on 1) the synthesis of self-adaptive mechanisms using linkage transmission with and without compliant joints, and 2) the development of dedicated intelligent control laws for self-adaptive mechanisms. Over the past few years, mechatronic systems have been proposed taking advantage of an intelligent mechanical design. Self-adaptive mechanisms are a subset of mechanically intelligent systems where part of the control task is taken in charge by the mechanical layout of the system rather than to an electronic board. Despite the fact that self-adaptive mechanisms have been known for centuries, the most common designs are repeatedly re-discovered. The goal of the proposed research initiative is to create a dynamic that will promote a next generation of mechatronic devices, taking advantages of the combination of intelligent design and intelligent control. Focus will be put on 1) the synthesis of transmission systems based on an analysis technique developed by the applicant and 2) the development of dedicated control laws to take advantage of the self-adaptive behaviour of the systems. The results of this research will be initially applied to grasping and locomotion, but are expected to be of interest for a vast area of applications. Challenging issues will be addressed in this research and the impact on the research field is expected to be significant. The research program proposed here has numerous potential applications which are in areas where Canadian companies are at the forefront of the technology, e.g. spatial, inspection and surgical robotics.