MRI: Design and Development of a Testbed for a New Generation of Robots for Human Environments

MRI：设计和开发用于人类环境的新一代机器人的测试台

• 批准号: 9977717
• 负责人: Oussama Khatib
• 金额: $ 46.96万
• 依托单位: Stanford University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 1999
• 资助国家: 美国
• 起止时间: 1999-09-01 至 2004-02-29
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=9977717&HistoricalAwards=false
• 关键词: MRI; Design; Development; Testbed; New

EIA-9977717Khatib, OussamaRoth, BernardStanford UniversityMRI: Design and Development of a Testbed for a New Generation of Robots for Human EnvironmentsThe goal of this project is to develop a testbed for safe, compliant, and compact robotic arms suitable for the emerging generation of robots destined to operate in human environments. The PI's propose to design and develop a manipulation system that will be conceived from the start to satisfy the requirements and needs for operating in human environments. This human-centered manipulation system will be a two-arm structure connected to a common torso mounted on a mobile platform. Each arm will be a redundant mechanism with seven degrees of freedom. The arms will be lightweight structures, with low effective mass and inertia, and will use energy absorbing surfaces. The actuation of joints will be based on a novel and compact arrangement that uses three motors for two degrees of freedom joint mechanization. This yields a modular pitch-roll kinematics for the shoulder, elbow, and wrist joints. The requirements for the integration of two arms with the self-contained platform is also an important aspect in this design. Reliability, low cost, clean and quite operations will also be among the characteristics addressed in this project.

EIA-9977717Khatib，Oussamaroth，Bernardstanford Universitymri：针对人类环境的新一代机器人的设计和开发，该项目的目标是为安全，兼容和紧凑的机器人武器开发用于人类环境中新兴机器人的安全武器的测试床，以实现人类环境。 PI建议设计和开发一种操纵系统，该系统将从一开始就可以满足在人类环境中运营的要求和需求。 这种以人为本的操纵系统将是一个两臂结构，该结构连接到安装在移动平台上的普通躯干。每个手臂将是具有七个自由度的冗余机制。手臂将是轻质的结构，具有低有效的质量和惯性，并将使用吸收能量的表面。 关节的致动将基于一种新颖而紧凑的布置，该布置使用三个电动机进行两个自由度的关节机械化。 这为肩膀，肘部和手腕关节提供了模块化的俯仰运动学。将两个臂与独立平台集成的要求也是该设计的重要方面。可靠性，低成本，干净和相当的操作也将是该项目中涉及的特征。