Manipulation devices with redundancy and failure-safety

将调查并联机械手(PM)[支持公共有效载荷的多个分支]的现有和潜在的分支和关节布局以及关节编码器(和/或致动器)的数量。将确定不同任务自由度(DOF)的基本运动学和力问题的解析封闭形式解(目标(A))。(B)将开发用于利用冗余编码和/或致动元件的解决方案和算法：bi)针对已识别的PM和Bii)故障检测(FD)和故障-安全(FS))确保准确的单向致动器作用力(对于致动的棱体关节)和/或扭矩(对于致动的旋转关节)。将评估基于PM的主臂(MA)在危险工作环境中控制机器人设备(RDS)所需的驱动(目标(C))。其中包括：(I)利用现有直流伺服电机的力反射型PM-MAS的设计；(Ii)基于FD和FS PM的MAS的实现，用于水下机器人-机械手系统的控制。

Existing and potential branch and joint layouts and the number of joint encoders (and/or actuators) for parallel manipulators (PMs) [multiple branchs supporting a common payload] will be investigated. Analytical closed-form solutions to fundamental kinematic and force problems for different numbers of task Degrees of Freedom (DOF) will be identified (objective (A).) (B) Solutions and algorithms for utilizing redundant encoding and/or actuation elements will be developed for: Bi) fault-detection (FD) and failure-safety (FS) for the identified PMs and for Bii) ensuring accurate uni-directional actuactor forces (for actuated prismatic joints) and/or torques (for actuated revolute joints.) The actuation required for PM-based Master Arms (MAs) for the control of Robotic Devices (RDs) in hazardous work enviroments will be evaluated (objective (C).) Included is Ci) design of force-reflective PM-based MAs which use existing DC servo-motors, Cii) implementation of FD and FS PM-based MAs for the control of Underwater Vehicle-Manipulator systems.