NRI: Towards Dexterous Micromanipulation and Assembly

NRI：迈向灵巧的显微操作和组装

基本信息

批准号：
1637961
负责人：
David Cappelleri
金额：
$ 100万
依托单位：
Purdue University
依托单位国家：
美国
项目类别：
Standard Grant
财政年份：
2016
资助国家：
美国
起止时间：
2016-09-01 至 2021-08-31
项目状态：
已结题

来源：
https://www.nsf.gov/awardsearch/showAward?AWD_ID=1637961&HistoricalAwards=false
关键词：
NRI Towards Dexterous Micromanipulation Assembly

项目摘要

Robots that people are familiar with are large, roughly, human-sized. The theory and design tools for developing such macro-scale robots is well developed. By contrast, the theory and design tools applicable to tiny, or micro-scale, robots is nearly non-existent. The goal of this project is to enable the transition of robot manipulation technology from macro-scale robots to micro-scale robots. The expected project outcomes are: i.) controlled and predictable environments for micro-robotic manipulation and assembly; ii.) a new class of 3D vision-based micro-force sensors and a 3D multi-resolution vision system; and iii.) the identification of dexterous micro-manipulation primitives via human micro-teleoperation with new novel haptic probes. These results will enable the assembly of micro-scale systems that are currently not possible. Such systems are applicable across a wide range of domains, such as cm-to-mm scale robots, micro-sensors, steerable catheters, micro-fluidic, and energy harvesting devices. At the micro-scale, surface forces dominate the interactions causing unpredictable forces. This project aims to lay the foundations for tools, such as simulators, motion planners, controllers, etc., to be developed for this unique micro-scale environment. The research approach is to reduce the uncertainty in forces present in the micro-world to enable dexterous micro-manipulation and assembly. A new class of manipulation substrates, fixtures, micro-parts, and manipulation tools to control and overcome the levels of adhesion forces present in the micro-world will be created. To enable force control, 3D vision-based micro-force sensing probes along with a multi-resolution 3D vision system to detect the micro-forces in real-time will be developed. Dexterous micro-manipulation primitives will be identified from a human tele-operating a multi-probe micro-manipulation system with micro-force feedback in an augmented reality system. How much and what types of micro-force feedback information is needed for the human to perform different tasks will be studied. These motion primitives together with physics-based simulators can reduce uncertainty in motion planners. The insights gained here will dictate the force-control algorithms implemented in future automated systems.

人们熟悉的机器人大小，大小。开发此类宏观机器人的理论和设计工具已经发达了。相比之下，适用于微小或微型机器人的理论和设计工具几乎不存在。该项目的目的是使机器人操纵技术从宏观机器人转变为微型机器人。预期的项目结果是：i。）微动操纵和组装的受控和可预测的环境； ii。）新的基于3D视觉的微力传感器和3D多分辨率视觉系统；和iii。）通过人类的微型高海关和新的新型触觉探针来鉴定灵巧的微观操纵原始原始原始。这些结果将使目前无法实现的微型系统组装。此类系统适用于广泛的域，例如CM至MM规模的机器人，微传感器，可通的导管，微流体和能量收集设备。在微尺度上，表面力占据了相互作用，导致不可预测的力。该项目旨在为工具（例如模拟器，运动计划者，控制器等）奠定基础，以为这个独特的微型环境开发。研究方法是减少微世界中存在的力的不确定性，以实现灵巧的微操作和组装。将创建一种新的操纵基板，固定装置，微型零件和操纵工具，以控制和克服微世界中存在的粘附力水平。为了实现力控制，将开发基于3D视觉的微力传感探针以及多分辨率的3D视觉系统，以实时检测微力。将通过增强现实系统中的微力反馈的多探针微型操作系统来确定灵巧的微型操纵原始原始。将研究人类执行不同任务需要多少类型的微力反馈信息。这些运动原语与基于物理的模拟器一起可以减少运动计划者的不确定性。这里获得的见解将决定未来自动化系统中实施的力控制算法。

项目成果

期刊论文数量（32）

专著数量（0）

科研奖励数量（0）

会议论文数量（0）

专利数量（0）

Autofocusing method for high-resolution three-dimensional profilometry

DOI：
10.1364/ol.382431
发表时间：
2020-01
期刊：
Optics Letters
影响因子：
3.6
作者：
Xiaowei Hu;Guijin Wang;Jae-Sang Hyun;Yujin Zhang;Huazhong Yang;Song Zhang
通讯作者：
Xiaowei Hu;Guijin Wang;Jae-Sang Hyun;Yujin Zhang;Huazhong Yang;Song Zhang

Autonomous Robotic Exploration and Mapping of Smart Indoor Environments With UWB-IoT Devices

DOI：
发表时间：
2019
期刊：
影响因子：
0
作者：
Tianyi Wang;Ke Huo;Muzhi Han;Daniel R. McArthur;Ze An;David Cappeleri;K. Ramani
通讯作者：
Tianyi Wang;Ke Huo;Muzhi Han;Daniel R. McArthur;Ze An;David Cappeleri;K. Ramani

DEVELOPMENT OF AN AUTOMATED FLEXIBLE MICRO-SOLDERING STATION

自动化柔性微焊台的开发