Rezumat

Dezvoltarea unui manipulator conform, care este articulat prin articulații interspațiale, implică o bună înțelegere a mai multor subiecte fundamentale asociate cu acest sistem robotic avansat. Știința materialelor joacă un rol important în dezvoltarea unui manipulator conform fiabil. Identificarea exactă a duratei de viață la oboseală a acestor articulații interspațiale este crucială, deoarece variază în funcție de tipurile de materiale, finisarea suprafeței, geometrii și încărcări. Proprietățile materialului afectează, de asemenea, nivelul de solicitare pe care îl poate suporta fiecare articulație interspațială sub încărcare, încovoiere și încovoiere de torsiune. Deși proprietățile de modul Young mai mic vor reduce rigiditatea la încovoiere și, prin urmare, solicitările, manipulatoarele conforme pot pierde rigiditatea dorită în direcțiile neacționante. Prin urmare, provocarea majoră în proiectarea unui manipulator conform este de a îndeplini funcțiile dorite și spațiul de lucru de deflectare, menținând în același timp solicitările mult sub limita de curgere a materialului.

Mecanica solidului oferă instrumente analitice importante pentru modelarea rigidității la deflectare a articulațiilor interspațiale. Ecuația clasică de încovoiere-moment-curbură a adus câteva formulări cheie în prezicerea rigidității și a solicitărilor mecanismelor funcționale conforme, în timp ce teorema deflecției mari acoperă caracteristicile neliniare ale articulațiilor interspațiale. Progresul în studiile teoretice asupra caracteristicii de deflecție mare au dat naștere modelului de aproximare a corpului pseudo-rigid, care a devenit, de asemenea, puntea de legătură între mecanismul clasic de legătură cu corp rigid și mecanismul conform. Acest model a fost îmbunătățit și mai mult de modelul de aproximare semi-analitică, care oferă o soluție simplă, rapidă și generică pentru orice formă de configurație de articulație interspațială. Cu aceste modele de aproximare, cunoașterea mecanismului de legătură cu corp-rigid, în special arhitecturile cinematice paralele, pot fi aplicate în sintetizarea mecanismului conform. Sinteza mecanismului conform poate fi realizată și prin abordarea clasică de proiectare cu constrângeri exacte și prin tehnicile de optimizare topologică de ultimă generație. Mecanismul compatibil sintetizat trebuie să fie antrenat de dispozitive de acţionare pentru a forma un manipulator conform. Actuatoarele vor decide în cele din urmă intervalul de deplasare, forța de ieșire, rigiditatea și chiar dimensiunea sau amprenta la sol a manipulatorului. Însă, senzorii de înaltă rezoluție vor defini rezoluția în trepte a manipulatorului. Cu cunoștințele relevante despre fiecare subiect fundamental fiind acoperite în acest capitol, acesta servește ca ghid și referință pentru proiectarea, analizarea și dezvoltarea unui manipulator conform.

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