Synthesis and prototyping of advanced robotic mechanical systems

在过去的十年里，机器人技术发展非常迅速。机器人的新应用在许多领域不断涌现。这些新的应用不断地重新定义对机器人机械系统的要求，并给机器人研究人员带来新的挑战。拟议的研究计划旨在在被认为是原创和有前途的四个领域(并行处理)合成和制作创新机器人机构的原型。首先，将研究由多个缆索回路驱动的机构。使用缆索回路背后的基本原理是将缆索的低惯性与闭合回路提供的刚度相结合。这一原理已经在平面系统中找到，但它将在这里扩展到3D系统，并将建立一个原型来演示这一概念。在第二个研究途径中，将研究类似于儿童秋千(但扩展到3D)的缆绳悬挂机械装置，并将建立原型。总的想法是开发能够在3D空间中摆动自己以达到指定目标的机器人。在第三项调查中，将建立一种机制，允许一个人在虚拟世界中自由行走，同时留在一个封闭的空间中。拟议的机制不同于传统的跑步机，将允许模拟在不平坦的地形(如楼梯)上行走。它将由安装在用户脚下的平台组成，并由机器人设备驱动。最后，将开发一个手界面，以模拟人对材料(例如粘土)的操纵。这个接口可以被认为是一个交互式手套箱，其中一对手套由一组围绕着箱内手套的缆线驱动。在全球范围内，该研究计划将在申请者过去和当前研究的自然延伸领域推进机器人科学。

Robotics has progressed very rapidly over the last decade. New applications for robots continue to emerge in many areas. These new applications constantly redefine the requirements on robotic mechanical systems and bring new challenges to robotics researchers. The proposed research program aims at synthesizing and prototyping innovative robotic mechanisms in four areas (addressed in parallel) that are thought to be original and promising. First, mechanisms driven with multiple cable loops will be investigated. The basic principle behind the use of cable loops is to combine the low inertia of cables with the stiffness provided by the closed loops. This principle is already found in planar systems but it will be extended here to 3D systems and a prototype will be built to demonstrate the concept. In a second research avenue, cable-suspended mechanisms that behave similarly to a child's swing (but extended to 3D) will be studied and a prototype will be built. The general idea is to develop robots that can swing themselves around to reach prescribed targets in 3D space. In a third investigation, a mechanism will be built to allow a person to freely walk in a virtual world while remaining in a confined space. The proposed mechanism departs from conventional treadmills and will allow the simulation of a walk on uneven terrain (e.g. stairs). It will consist of platforms attached under the feet of the user and driven by a robotic device. Finally, a hand interface will be developed in order to simulate the manipulation of material (e.g. clay) by a person. This interface can be thought of as an interactive glove box in which a pair of gloves are driven by a set of cables surrounding the gloves inside the box. Globally, the research program will advance robotic science in areas that are natural extensions of the applicant's past and current research.