Cable-Driven Parallel Manipulators with Extensible Rods

带可伸缩杆的电缆驱动并联机械手

• 批准号: RGPIN-2017-04248
• 负责人: Carretero, Juan
• 金额: $ 1.6万
• 依托单位: University of New Brunswick
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2019
• 资助国家: 加拿大
• 起止时间: 2019-01-01 至 2020-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=678611
• 关键词: Cable; Driven; Parallel; Manipulators; Extensible

Redundancy of different types in the context of serial manipulators has reached a good level of maturity over the years. Most notably, kinematic redundancy (i.e., adding more joints and links than those strictly required by the task) for better kinematic performance or obstacle avoidance has been the focus of a number of works and successful manipulator designs (e.g., Canadarm). In parallel manipulators (PMs), however, redundancy is still in its infancy. Some recent works have used redundancy to tackle a few common issues of PMs (e.g., small and/or highly singular workspaces) and to develop new or improved manipulator architectures. The research proposed here will study actuation redundancy from theoretical and practical perspectives.******In terms of actuation redundancy, the focus will be on Cable Driven Parallel Manipulators (CDPMs) which have potentially large workspaces. Although it is possible to design CDPMs with very large workspaces (e.g., the SkyCam), the resulting CDPMs have a very large footprints as well. This is mostly due to the fact that cables can only pull and always need to be kept in tension. Here, it is proposed to enhance CDPMs with actuated coiled or telescopic struts that will essentially create manipulators with hybrid actuation. Since the new actuated members would permit both pushing and pulling, the region in space in which the manipulator can perform tasks can be extended quite significantly.******Efficiently determining the region in which a manipulator can apply or sustain a certain minimum force/moment couple is essential to determining the best manipulator for a specific task. New methods and efficient computational tools are required to perform this task fast enough to allow optimal design of manipulators. With these methods and tools, a robot designer would be able to determine the number, placement and characteristics of all the actuators (whether they are cables or coiled/telescopic struts) to perform the desired task.******An important part of the proposed work is the study and design of the actuators using either tape springs or novel elements such as slit tubes or bistable composite tubes. These light members can be deployed from a spool yet they can sustain axial forces in both directions. That is, they will allow forces to be applied both in tension and compression while having relatively long strokes. Although variants of this technology have existed for over two decades, they have been used on low speed applications such as deployable space structures. Here, the intention is to use the technology in relatively high speed applications. These actuators will greatly enhance the scope and allow new practical application of CDPMs.******Overall, this work will give robot designers better design tools for PMs and a larger selection of kinematic architectures. A very significant by-product of the work will be the development and design of extensible rods for high speed applications.

多年来，在串行操纵器的背景下，不同类型的冗余已达到了良好的成熟水平。最值得注意的是，用于更好的运动学性能或避免障碍物的运动学冗余（即，添加比严格要求的关节和链接更多的关节和链接）是许多作品和成功的操纵器设计（例如Canadarm）的重点。但是，在并行操纵器（PMS）中，冗余仍处于起步阶段。最近的一些作品使用了冗余来解决一些PMS（例如，小和/或高度奇异工作区）的一些常见问题，并开发了新的或改进的操纵器体系结构。这里提出的研究将从理论和实际角度研究驱动冗余。******在致动冗余方面，重点将放在电缆驱动的平行操纵器（CDPM）上，这些操纵器（CDPM）具有潜在的大型工作空间。尽管可以设计具有非常大的工作区（例如SkyCam）的CDPM，但所得的CDPM也具有很大的足迹。这主要是由于电缆只能拉动，并且始终需要保持紧张状态。在这里，提议用驱动的盘绕或望远镜支柱增强CDPM，这些支撑杆本质上将创建具有混合动力的操纵器。由于新的驱动成员将允许推动和拉动，因此可以大大扩展机械手可以执行任务的空间区域。******有效地确定操纵器可以应用或维持某些最小力量/力矩夫妇的区域，对于确定最佳操纵器的特定任务至关重要。需要新的方法和高效的计算工具来足够快地执行此任务以允许操纵器的最佳设计。借助这些方法和工具，机器人设计人员将能够确定所有执行器（无论是电缆还是盘绕/伸缩/伸缩杆）的数量，位置和特征）以执行所需的任务。****** ******拟议的工作的重要部分是使用磁带弹簧或新颖的元素进行执行的工作和设计，例如可静止型或新颖的元素。这些光成员可以从线轴中部署，但它们可以在两个方向上维持轴向力。也就是说，它们将允许在相对较长的笔触的同时既可以在张力和压缩中施加力。尽管该技术的变体已经存在了二十年，但它们已用于低速应用（例如可部署空间结构）。在这里，目的是在相对较高的速度应用中使用该技术。这些执行器将极大地增强范围，并允许CDPM的新实用应用。这项工作非常重要的副产品将是用于高速应用的可扩展杆的开发和设计。