An Analytical and Experimental Study of Hyper-Redundant Mechanisms

超冗余机制的分析与实验研究

• 批准号: 9011779
• 负责人: Joel Burdick
• 金额: $ 6.98万
• 依托单位: California Institute of Technology
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1991
• 资助国家: 美国
• 起止时间: 1991-06-15 至 1993-05-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9011779&HistoricalAwards=false
• 关键词: Analytical; Experimental; Study; Hyper; Redundant

The research comprises an analytical and experimental study of hyper-redundant mechanisms. Hyper-redundant mechanisms are defined as highly articulated devices with a large or infinite number of degrees of freedom, and are analogous to snakes, elephant trunks, tentacles, etc. These devices have potential applications in robotic manipulation and locomotion, as well as many other non robotics applications such as articulated space structures, medical endoscopes, and flagellum like fluid propulsion. This investigation focuses on basic geometric, kinematic, dynamic and control issues related to hyper-redundant mechanisms. The analytical phase focuses on a differential geometry based approach to the kinematic analysis and geometric control of this class of mechanisms. In the experimental phase, a planar hyper-redundant device will be implemented in hardware and algorithms developed in the theoretical study will be tested and verified.

该研究包括对超冗余机制的分析和实验研究。 超冗余的机制被定义为具有高度或无限数量的自由度的高度清晰的设备，并且类似于蛇，象，大象的树干，触手等。这些设备在机器人的操纵和势力中具有潜在的应用，以及许多其他非机器人，以及许多其他非机器人，以及类似于清晰度的空间，医疗领域，旗杆，以及标志性的旗杆。 这项研究重点介绍了与超冗余机制有关的基本几何，运动学，动态和控制问题。 分析阶段着重于基于差异几何的方法，用于对这类机制的运动学分析和几何控制。 在实验阶段，将在硬件中实现平面超冗余设备，并且将在理论研究中开发的算法进行测试和验证。