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、Bernard斯坦福大学MRI：设计和开发用于人类环境的新一代机器人的测试台该项目的目标是开发一个安全、合规且紧凑的机械臂测试台，适用于注定要出现的新一代机器人在人类环境中运行。 PI 建议设计和开发一个操纵系统，该系统从一开始就旨在满足在人类环境中操作的要求和需要。 这种以人为中心的操纵系统将是一个双臂结构，连接到安装在移动平台上的公共躯干。每个臂都是一个具有七个自由度的冗余机构。手臂将采用轻质结构，具有较低的有效质量和惯性，并将使用能量吸收表面。 关节的驱动将基于一种新颖而紧凑的布置，该布置使用三个电机实现两个自由度的关节机械化。 这产生了肩部、肘部和腕部关节的模块化俯仰-横滚运动学。两个手臂与自给式平台集成的要求也是本设计的一个重要方面。可靠性、低成本、清洁和安静的运行也将是该项目所强调的特点。