Design and Control of Mechanical Systems

我现在的研究计划比以前的要广泛。针对机动性降低的系统的应用程序的基本工作正在进行中。接下来的工作将集中在快速拾取机器人的动态平衡上。工作将继续在两个机器人上使用两自由度驱动（two-dof），被称为c驱动，这是我从零开始设计的，基于核心理论运动学，在李群的框架下，然后进入概念层面，具体化，详细设计，并进行调试。两台相同的原型机现已安装在一个四足机器人上，用于快速P&P操作，其抓手几乎可以无限旋转，这是一个台湾团队提出的结构。最后一个功能是一项重大成就，旨在响应用户的挑战性功能：夹持器至少具有180度旋转能力。目前的商业系统已经用高度复杂的机制来应对这一挑战，这些机制是已知的，没有记录的，是故障的来源。

My research proposal is now broader than the previous one. The fundamental work targeting applications aimed at systems with reduced mobility is well under way. The work ahead along these lines will now focus on the dynamic balancing of a fast pick-and-place (P&P) robot. Work will continue on  two robots that use the two-degree-of-freedom drive (two-dof), dubbed C-drive, that I designed from scratch, based on hard-core theoretical kinematics, in the framework of Lie groups, then went on to the conceptual level, the embodiment, the detailed design, and on to the commissioning. Two identical prototypes have now been mounted on a four-dof robot for fast P&P operations and virtually unlimited rotatability of its gripper, an architecture proposed by a Taiwanese team. The last feature is a major achievement, that aims to respond to a users' challenging feature: a 180-deg rotation capability of the gripper as a minimum. Current commercial systems have responded to this challenge with highly complex mechanisms that are known, off-the-record, to be sources of failure.