The FRAS Laboratory
Overview
An important concern in both the theoretical and applied design of many real physical systems is their kinematic behaviour. All systems exhibit kinematic behaviour if they move, change shape or evolve. This is true even for structures, since there will always be small movements induced when structures are under load or stress.
Systems that are specifically designed to incorporate movement as an integral part of their function include robots, typically found in many industrial, aerospace, underwater, and construction contexts. But there are also many examples of mechanisms and linkages in industrial, commercial and consumer products. Moreover, there is a growing field of research into re-configurable structures that have two or more different structural forms. These have a kinematic phase as they deploy or stow from one configuration to another.
The majority of systems and subsystems that are required to exhibit some form of movement are usually designed using techniques developed for two-dimensional motion. However, with systems such as robots, and other spatial mechanisms, whose motion is inherently three-dimensional, these 2D techniques are inadequate, and more general approaches are needed.
The main aim of the Facility for Robotic Autonomous Systems (FRAS) is to investigate and develop general representations and techniques for the modelling, design and implementation of systems capable of 3D autonomous movement. The strategy involves a two-pronged approach. Firstly, theoretical explorations map out the ‘territory’ of possible 3D movement, and, based on this knowledge, ‘prototype’ experimental systems are constructed to demonstrate/verify the feasibility of the motion behaviour. Secondly, the ‘prototype’ experimental systems are used to analyse actual motion capabilities in order to develop/refine better theoretical models and representations.
The work of FRAS has potential application in several design fields, including: architecture/construction (re-configurable stadia roofs, deployable structures); space systems (autonomous planetary robot missions); industry (industrial robots, materials handling); transport (vehicle suspension systems, aircraft undercarriages); and entertainment (theme park rides, personal robotics, executive toys).
Research in the FRAS laboratory
The FRAS laboratory facility is currently based around the following areas of exploration:
Serial Manipulatation
Here the focus is on the analysis and design of motion generated by kinematic systems that are constructed from a serial arrangement of mechanically interconnected moving parts, and that superficially resemble arms, legs, fingers and toes. They can be used potentially to manipulate objects with a high degree of dexterity, or to pedipulate themselves with a high degree of agility within some workspace. The aim is to explore the role of dexterity, agility, posture and contortion, and to exploit their nature in designing the geometry, topology and singularity structure of serial manipulation workspaces;
Parallel Manipulation
Here the focus is on motion generated by kinematic systems that are constructed from a parallel arrangement of mechanically interconnected moving parts, typified by generalised flight simulator platforms. They can be used potentially to manipulate objects or pedipulate themselves with a high degree of robustness, and precision, within some workspace. The aim is to explore the role of robustness, precision, pose and formation, and to exploit their nature in designing the geometry, topology and singularity structure of parallel manipulation workspaces;
Force-Motion Interaction
Here the focus is on the relationships and interactions between movement and the forces generating or constraining movement. One aim is to explore the geometrical and topological conditions necessary and sufficient to determine prescribed degrees of kinematic mobility within a range of topologically different (serial, parallel, hybrid) mechanical systems. Currently an air-table is used to investigate the interplay between 2D motions and 2D force configurations in the design of serial, parallel and hybrid kinematic systems, without having to take account of the extra constraints imposed by gravity and frictional forces.
Page Last Updated: 27 June, 2008