Integrated Magnetorheological Actuator Arrays for Robotic Hands

用于机械手的集成磁流变执行器阵列

• 批准号: RGPIN-2017-06213
• 负责人: Plante, JeanSébastien
• 金额: $ 3.21万
• 依托单位: Université de Sherbrooke
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2018
• 资助国家: 加拿大
• 起止时间: 2018-01-01 至 2019-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=662295
• 关键词: Integrated; Magnetorheological; Actuator; Arrays; Robotic

Robots will soon be assisting or collaborating with people for repetitive tasks, heavy load handling, or improving precision on delicate tasks. However, developing actuator systems that can perform as well as human muscles within a practical size envelope remains a major challenge, if not a significant roadblock. The human hand for instance, packages 29 major joints, 123 ligaments, and 34 muscles, and this does not even account for its network of nerves and arteries. No present robotic solution offers this level of performance in such a small, integrated package. ******This Discovery Grant proposal aims at developing highly integrated, high-bandwidth and high-torque-density actuator arrays for collaborative robots (e.g.: robotic hand) based on magnetorheological (MR) clutches. The research builds on recent results demonstrating that MR actuators have game changing potential for aerospace applications which require large torques (e.g.: 100 Nm). However, the potential for small, highly integrated systems such as robotic hands, which require low torques (e.g.: 0.1 Nm), have yet to be studied. ******A first research axis of this proposal will focus on optimal hardware for small-scale, highly integrated systems. The work will develop MR clutches exploiting novel fluid behavior (e.g.: squeeze-strengthening) to boost torque output. Additive manufacturing as well as PCB-based constructions will be investigated as means to maximize packaging density while simplifying manufacturing and assembly.******A second research axis of this proposal will focus on system-level design and control strategies in the context of developing a robotic hand for collaborative robotics. The work will develop a hand-like gripper using one motor feeding a multitude (e.g.: 10) of miniature MR clutches coupled to a tendon architecture to actuate each robot finger. Control schemes minimizing energy consumption and maximizing dynamic response will be developed. Finally, a fully-functional prototype will be developed and its performance characterize experimentally to assess the technological potential of the proposed approach.******Altogether, the work will provide robotic technologies that will allow safe interaction between man and machine. Devices such as exoskeletons and manufacturing robots working in close collaboration with humans will become a reality that will benefit Canadians in several aspects of their lives.

机器人很快将协助或与人们协作执行重复性任务、重物搬运或提高精细任务的精度。然而，开发能够在实际尺寸范围内与人类肌肉一样执行的执行器系统仍然是一个重大挑战，甚至是一个重大障碍。以人手为例，它有 29 个主要关节、123 个韧带和 34 个肌肉，这甚至还没有考虑到它的神经和动脉网络。目前还没有机器人解决方案能够在如此小的集成封装中提供这种级别的性能。 ******这项发现资助提案旨在为基于磁流变（MR）离合器的协作机器人（例如：机械手）开发高度集成、高带宽和高扭矩密度的执行器阵列。该研究以最近的结果为基础，表明磁流变执行器对于需要大扭矩（例如：100 Nm）的航空航天应用具有改变游戏规则的潜力。然而，小型、高度集成的系统（例如需要低扭矩（例如：0.1 Nm）的机器人手）的潜力还有待研究。 ******该提案的第一个研究轴将重点关注小型、高度集成系统的最佳硬件。这项工作将开发磁流变离合器，利用新颖的流体行为（例如：挤压强化）来提高扭矩输出。将研究增材制造和基于 PCB 的结构，作为最大化封装密度同时简化制造和组装的方法。******该提案的第二个研究轴将重点关注系统级设计和控制策略。为协作机器人开发机械手。这项工作将开发一种类似手的抓手，使用一个电机为多个（例如：10 个）微型 MR 离合器提供动力，这些离合器与腱结构耦合以驱动每个机器人手指。将开发最小化能量消耗和最大化动态响应的控制方案。最后，将开发一个功能齐全的原型，并通过实验对其性能进行表征，以评估所提出方法的技术潜力。******总而言之，这项工作将提供允许人与机器之间安全交互的机器人技术。与人类密切合作的外骨骼和制造机器人等设备将成为现实，这将使加拿大人生活的多个方面受益。