模块化绳驱动变刚度机器人臂关键技术研究

项目名称： 模块化绳驱动变刚度机器人臂关键技术研究

项目编号： No.51475448

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 机械、仪表工业

项目作者： 杨桂林

作者单位： 中国科学院宁波材料技术与工程研究所

项目金额： 85万元

中文摘要： 本项目以提高机器人臂运动的柔顺性和安全性为目的，重点研究新型模块化变刚度绳驱动机器人臂的设计理论和控制方法。通过融合并联机构的型综合理论和结构拓扑优化方法，创新设计一类基于柔性并联机构的变刚度装置；分析与研究具有变刚度特性的绳驱动关节模块的运动学、动力学及刚度特性，提出绳驱动变刚度关节模块的构型优化设计方法，创新设计几种具有不同自由度数的绳驱动变刚度关节模块；研究面向刚度控制的绳索张力的最优分配算法，实现绳驱动关节模块及绳驱动机器人臂的变刚度控制；以绳驱动变刚度关节模块为基本单元，提出面向任务的绳驱动变刚度机器人臂的构型优化设计方法。可以预见，轻量化、模块化、变刚度、本质安全的绳驱动机器人臂将具有广阔的应用前景，它不仅适用于各类服务机器人，也适用于各种工业应用场合。

中文关键词： 绳牵引；可重构机器人；柔性关节；并联机构；刚度控制

英文摘要： To improve motion compliance and safety of robotic manipulators, this project will be focused on the study of the design and control methodologies for a class of novel modular, cable-driven, and variable-stiffness manipulators. By integrating the type-synthesis theory of parallel mechanisms and structural topology optimization method, innovative designs for variable-stiffness devices can be created through topological evaluation of flexure-based parallel mechanisms. Based on kinematics, dynamics and stiffness analyses, a design optimization method will be developed to generate novel cable-driven variable-stiffness joint modules with different degrees of freedom. In order to realize stiffness control for both cable-driven joint modules and manipulators, a stiffness-oriented tension resolution algorithm will be developed. On top of the cable-driven variable-stiffness joint modules, a task-oriented design methodology will be proposed for cable-driven variable-stiffness manipulators.It is belived that modular, cable-driven, light-weight, variable-stiffness and intrinsically-safe manipulators will be widely implemented for not only service robots, but also various industrial applications. It is also expected that the research results obtained from this project will advance the technology level of service robots of China.

英文关键词： Cable-Driven;Reconfigurable robot;Flexural joints;Parallel mechanism;Stiffness control