Intelligent, Modular, Scalable Controllers And Actuators For Use In Automated Systems

An intelligent, redundant end effector is proposed for use as part of an intelligent automation system. The end effector is compact, lightweight, and provides up to six degrees of freedom over a limited workspace. The design is modular being composed of a number of interchangeable linear actuators which can be scaled to accomodate different force, bandwidth, and accuracy requirements. Phase I technical objectives are to demonstrate the feasibility of the proposed design and to trade design configurations and controllers against size, weight, power, and computation complexity metrics. Phase II objectives will be to build and demonstrate the proposed end effector's performance within a hierarchically controlled system. Phase I tasks include fabrication and testing of an innovative linear actuator, which is a key element of the end effector design, and the development of the software algorithms and algorithms and analysis tools. Improvements and enhancements to the actuator and end effector designs will be sought. Anticipated Phase I results include development of an end effector mechanism and controllers, and successful preparation for Phase II tasks. ANTICIPATED BENEFITS: Intelligent control lowers the cost, improves the performance, and increases accessibility of commercial automation systems. Commercial applications extend to nearly all industrial robot and automation systems proposed in this SBIR.