MRI: Acquisition of a Lightweight 7-Axis Robotic Manipulator with Force Sensing for Archaeological and Engineering Research and Education

MRI：采购具有力感应功能的轻型 7 轴机器人操纵器，用于考古和工程研究与教育

• 批准号: 2216138
• 负责人: Joshua Schultz
• 金额: $ 13.74万
• 依托单位: University of Tulsa
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2022
• 资助国家: 美国
• 起止时间: 2022-09-01 至 2025-08-31
• 项目状态: 未结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=2216138&HistoricalAwards=false
• 关键词: MRI; Acquisition; Lightweight; Axis; Robotic

This Major Research Instrumentation (MRI) award supports the acquisition of a 7-axis robotic arm for multidisciplinary research. This robotic arm will enable several research projects requiring complex and repetitive motions. For example, this instrument will enable sophisticated archaeological and engineering experiments. For archaeological research, the robot arm will replicate ancient tasks with stone and bone tools. When performing tasks such as scraping and cutting, traces of these actions develop on the surface of the tool. Comparing the wear patterns on replica tools with traces on artifacts, researchers can interpret how prehistoric people may have used these tools. Unlike a test fixture with limited motions, the robotic arm more closely mimics human movements leading to better understanding of life in the ancient past. Within engineering, this robot will be used to study what occurs in the walls of metal tubes when they are bent back and forth into new shapes numerous times, such as when a coiled tube is forced down a straight well-bore. This will aid in predicting when the tubing will rupture, improving safety and preventing environmental catastrophe. This robot arm is also expected to be used in a variety of other scientific endeavors, including how to grasp and move objects with robot hands so that robots are more useful in industry and human-facing applications. Finally, the robot will be used to engage and educate students, visitors, and the broader public. The robot will be used to perform archaeological use-wear studies on stone and bone tools, which can be compared to those on archaeological artifacts using focus-variation microscopy and imaging confocal microscopy. Crucially, the robot can mimic the variability of human motions while also providing quantitative, replicable data produced by those motions. For engineering, the robot will used to study a phenomenon called “rachetting”, which occurs when metal tubing is subject to large deformations. The robot will be able to generate the complex bending trajectories that have been associated with this phenomenon, which is difficult to perform with existing testing machines. Finally, the robot will be used to study the interaction of grasped objects with the environment as the hand holding the object approaches from various directions, as well as to generate complex, moving constraint surfaces to experimentally study the interaction of soft robots with their environment. Overall, the robotic arm will produce the complex trajectories needed to advance these multidisciplinary research projects.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.

这项主要的研究工具（MRI）奖支持获得7轴机器人部门进行多学科研究。这个机器人部门将使几个需要复杂和重复运动的研究项目。例如，该仪器将实现复杂的考古和工程实验。对于考古研究，机器人臂将使用石材和骨工具复制古老的任务。在执行诸如刮擦和切割之类的任务时，这些动作的痕迹在工具的表面上会发展。将复制工具上的磨损模式与文物的痕迹进行比较，研究人员可以解释史前人如何使用这些工具。与动作有限的测试固定装置不同，机器人的手臂更紧密地模仿人类运动，从而使人们更好地了解古代生活。在工程中，该机器人将用于研究金属管墙壁中的发生时，当它们来回弯曲成多次新形状时，例如，当盘绕的管被迫沿着直孔孔的孔径下方。这将有助于预测管子何时破裂，改善安全性并防止环境灾难。预计该机器人臂也将用于其他各种科学努力，包括如何用机器人手掌握和移动对象，以便机器人在工业和面向人类的应用中更有用。最后，该机器人将用于吸引和教育学生，访客和更广泛的公众。该机器人将用于对石材和骨工具进行考古使用磨损研究，可以将其与焦点变化显微镜和成像共聚焦显微镜进行比较。 con钉，机器人可以模仿人类运动的变异性，同时还提供了这些动作产生的定量，可复制数据。对于工程学，机器人将用于研究一种称为“ Rachetting”的现象，该现象发生在金属管会遭受较大变形时发生。机器人将能够生成与这种现象相关的复杂弯曲轨迹，这很难与现有的测试机相关。最后，机器人将用于研究握把物体与环境的相互作用，因为将对象从各个方向握住对象接近，并产生复杂的，移动的约束表面，以实验研究软机器人与环境的相互作用。总体而言，机器人部门将产生推进这些多学科研究项目所需的复杂轨迹。该奖项反映了NSF的法定任务，并通过使用基金会的知识分子优点和更广泛的影响审查标准来评估，被认为是珍贵的支持。