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國家自然科學(xué)基金申請書(編輯修改稿)

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【文章內(nèi)容簡介】 ygonal parts without sensors. Compos. Struct., 1992, Special Robotics Issue.5. Chirikjian G S. Kinematic synthesis of mechanisms and robotic manipulators with binary actuators. Journal of Mechanical Design, 1995, 11(7): 573~5806. Ebert–Uphoff I., Chirikjian G S. Efficient workspace generation for binary manipulators with many actuators. Journal of Robotic Systems, 1995, 12(6): 383~4007. Lees D S., Chirikjian G S. A Combinatorial Approach to Trajectory Planning for Binary Manipulators. In: Proceedings of IEEE International Conference on Robotics and Automation, Minneapolis, 1996: 2749~27548. Lees D S., Chirikjian G S. An efficient method for puting the forward kinematics of binary manipulators. In: Proceedings of the IEEE International Conference on Robotics and Automation,1996: 1012~10179. Chirikjian G S., Ebert–Uphoff I. Numerical convolution on the Euclidean group with applications to workspace generation. IEEE . , 14(1): 123~13610. Kyatkin A B., Chirijian G S. Synthesis of binary manipulators using the fourier transform on the eucidean group. Journal of Mechanical Design, 1999, 1(21): 9~1411. Kyatkin A B., Chirijian G S. Computation of robot configuration and workspaces via the fourier transform on the discretemotion group. The International Journal of Robotics Research. 1999, 18(6):601~61512. Suthakorn J, Chirikjian G S. A new inverse kinematics algorithm for binary manipulators with many actuators. Adv. Robot., 2001, 15(2): 225~24413. Wang Y F., Chirikjian G S. The parison of two workspace densitydriven inverse kiematics methods for hyperredundant manipulators, In: Proc. ASME Des. Eng. Tech. Conf., Montreal, Canada, 2002: 563~568.14. Wang Y F., Chirikjian G S. Workspace generation of hyperredundant manipulators as a diffusion process on SE(N). IEEE Trans. Robot. Autom., 2004, 20(3): 399~40815. Lichter M D., Sujan VA., Dubowsky S. Experimental demonstrations of a new design paradigm in space robotics. In: Proceedings of the Seventh International Symposium on Experimental Robotics, 2000: 219~22816. Sujan V A., Lichter M, Dubowsky S. Lightweight hyperredundant binary elements for planetary exploration robots. In: Proceedings of the 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Italy, 2001: 1273~127817. Wingert A., Lichter M., Dubowsky S., and Hafez, M. HyperRedundant Robot Manipulators Actuated by Optimized Binary Dielectric Polymers. Proceedings of the SPIE Smart Structures and Materials Symposium 2002, San Diego, CA, Vol. 4695, March 2002.18. Wingert A., Lichter M., Dubowsky S. On the kinematics of parallel mechanisms with bistable polymer actuators. In: Proceedings of the 8th International Symposium on Advances in Robot Kinematics, Barcelona, Spain, 2002: 303~310 19. Hafez M., Lichter M D., Dubowsky S. Optimized binary modular reconfigurable robotic devices. IEEE/ASME Transactions on Mechatronics, 2003, 8(1): 182520. Sujan VA., Dubowsky S. Design of a lightweight hyperredundant deployable binary manipulator. ASME Journal of Mechanical Design, 2004, 126(1): 29~39 21. Zanganeh K R., Angeles J. The inverse kinematics of hyperredundant manipulators using splines. In: Proc. IEEE Int. Conf. Robot. Autom., 1995: 2797~280222. Kim Y Y., Jang G W., Nam S J. Inverse kinematics of binary manipulators by using the continuousvariablebased optimization method. IEEE Transactions

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