Synthesis and prototyping of advanced robotic mechanical systems

先进机器人机械系统的合成和原型设计

• 批准号: 89715-2010
• 负责人: Gosselin, Clement
• 金额: $ 5.97万
• 依托单位: Université Laval
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2014
• 资助国家: 加拿大
• 起止时间: 2014-01-01 至 2015-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=545065
• 关键词: Synthesis; prototyping; advanced; robotic; mechanical

Robotics has progressed very rapidly over the last decade. New applications for robots continue to emerge in many areas. These new applications constantly redefine the requirements on robotic mechanical systems and bring new challenges to robotics researchers. The proposed research program aims at synthesizing and prototyping innovative robotic mechanisms in four areas (addressed in parallel) that are thought to be original and promising. First, mechanisms driven with multiple cable loops will be investigated. The basic principle behind the use of cable loops is to combine the low inertia of cables with the stiffness provided by the closed loops. This principle is already found in planar systems but it will be extended here to 3D systems and a prototype will be built to demonstrate the concept. In a second research avenue, cable-suspended mechanisms that behave similarly to a child's swing (but extended to 3D) will be studied and a prototype will be built. The general idea is to develop robots that can swing themselves around to reach prescribed targets in 3D space. In a third investigation, a mechanism will be built to allow a person to freely walk in a virtual world while remaining in a confined space. The proposed mechanism departs from conventional treadmills and will allow the simulation of a walk on uneven terrain (e.g. stairs). It will consist of platforms attached under the feet of the user and driven by a robotic device. Finally, a hand interface will be developed in order to simulate the manipulation of material (e.g. clay) by a person. This interface can be thought of as an interactive glove box in which a pair of gloves are driven by a set of cables surrounding the gloves inside the box. Globally, the research program will advance robotic science in areas that are natural extensions of the applicant's past and current research.

在过去的十年中，机器人技术取得了非常迅速的发展。机器人的新应用在许多领域继续出现。这些新应用不断重新定义机器人机械系统的要求，并为机器人研究人员带来新的挑战。拟议的研究计划旨在在四个领域（并行解决）的创新机器人机制综合和原型，这些机制被认为是原始而有希望的。首先，将研究由多个电缆回路驱动的机制。使用电缆回路的基本原理是将电缆的低惯性与封闭环提供的刚度相结合。该原理已经在平面系统中找到，但是它将在此处扩展到3D系统，并将建立一个原型以证明该概念。在第二个研究大道上，将研究与孩子的挥杆（但延伸到3D）相似的电缆悬浮机制，并将建立原型。一般的想法是开发可以自行摆动以达到3D空间中规定目标的机器人。在第三次调查中，将建立一种机制，以使一个人可以在虚拟世界中自由行走，同时留在狭窄的空间中。提议的机制偏离了常规跑步机，将允许在不平坦的地形（例如楼梯）上模拟步行。它将由用户脚下的平台组成，并由机器人设备驱动。最后，将开发手界面，以模拟一个人对材料（例如粘土）的操纵。该界面可以被认为是一个交互式手套箱，其中一双手套由盒子内的手套周围的一组电缆驱动。在全球范围内，该研究计划将推进申请人过去和当前研究的自然扩展领域的机器人科学。