基于液压驱动的拟人机器人上肢机构设计

为提高拟人机器人的集成性与负载能力,对拟人机器人上肢机械结构及其控制系统进行研究.运用CREO软件对拟人机器人上肢各主要关节进行三维模型,并完成虚拟装配.对液压驱动拟人机器人液压驱动系统实现了集成式模块化控制,液压管路布线均匀整齐.基于MATLAB软件对机器人手臂工作空间进行仿真分析,得到了机器人手臂末端执行结构的工作空间云图,并采用FluidSIM液压仿真软件对液压系统原理进行建模,验证液压系统设计的合理性.利用LabVIEW软件设计拟人机机器人上位管理界面,实现了其控制功能,为拟人机器人的设计、改进提供一定的理论基础.     

夏利整车电气系统控制示教台的研制

汽车电气系统是汽车上最复杂、应用高新技术最多的部分。文中简要介绍夏利整车电气系统控制示教台研制的目的和思路及其结构特点、功能、用途和电路原理,并结合相应的示教及实训教学实例,论述其常见线路连接示教和故障诊断与排除的实训方法。     

两自由度并联机器人的RBF神经网络辨识自适应控制

针对平面两自由度五杆并联机器人的轨迹跟踪问题,提出了一种基于RBF神经网络的自适应PID控制方法.该控制方案利用RBF神经网络自适应学习辨识并联机器人系统的未知非线性动态,可以在线调整PID控制参数以实现高精度控制.仿真结果显示该控制策略可以精确实现对于并联五杆机器人的轨迹跟踪控制,该方法的自适应性和跟踪性能均优于传统的PID控制.     

调度集中模拟示教系统的研究

本文设计了一个调度集中模拟示教系统，文中介绍了系统的功能及相关模块，重点给出了站场图数据文件的生在及由向结点链转换的方法。     

斜拉桥索无损检测驱动系统内模解耦控制方法

针对在役斜拉桥索只能进行无损检测,且检测信号受外界干扰较大的特点,为保持机器人平稳运动,设计了基于内模解耦空间矢量脉宽控制方法的驱动系统。仿真结果表明,驱动系统采用内模解耦空间矢量脉宽调制方法,可有效抑制电磁惯量扰动与参数模型不相匹配对输出激励电流的影响,克服传统的PI控制不能动态解耦以及对电机参数敏感的问题,可为桥梁斜拉索检测机器人提供稳定动力。     

机器人化自动钻机的仿人控制

给出了机器人化自动钻的系统结构和参数关系，结合机特点提出了基于“最安全原则”的仿人控制方案，并由软硬件系统实现。     

基于视觉传感器的去毛刺加工路径生成方法研究

当前在使用工业机器人进行去毛刺加工作业时,编程方法多数为现场手动示教或是在离线编程软件中对工件模型进行手动编程.针对手动编程的不便利性,提出了一种通过使用视觉传感器对工件模型进行识别检测,进而自主生成去毛刺加工路径的方法.在V-REP平台下,将实际应用场景抽象化,并使用Lua语言编写相应的脚本程序.最后通过模拟仿真验证...     

多机器人系统连通性主动控制研究

对于分布式多机器人系统,保持通讯的连通性是非常重要的.本文提出了一种无线传感器网络环境下多机器人系统建立连通性的算法,解决了初始状态不连通的多机器人系统如何通过无线传感器网络建立连通关系,最后形成直接连通的多机器人网络.仿真结果表明算法高效可靠,适用于复杂环境下多机器人自主组网     

机器人的三维运动仿真

通过对一个机器人机械手三维实时运动仿真系统实例的介绍和分析，阐述了利用OpenGL图形库实现机器人运动仿真的有效方法，重点分析了机器人运动学模型的构建及仿真过程的动态显示，并且讨论了该仿真系统的主要功能模块构成。最后总结了该仿真系统的主要特点，指出了OpenGL在机器人运动仿真中的应用前景。     

机械手实时视觉伺服控制系统的研究

由于计算机图象处理的速度比较慢，影响了机器人视觉系统的应用。提出了机械手的实时视觉伺服控制系统。设计了一种实时图象处理器，以有效和迅速辨识出机械手的手爪和目标物体，并且使图象处理，控制和运动规划并行处理，以保证实现实视觉伺服控制。实验表明，本系统具有良好的瞬态和稳态特性。     

Kinematics Modeling of an Omnidirectional Autonomous Mobile Robot with Castor Wheels

The kinematics model of an omnidirectional wheeled mobile robot （WMR） platform with 3 castor wheels was built, which includes the actuated inverse solution and the sensed forward solution. Motion simulations verify the consistency between the actuated inverse solution and the sensed forward solution. Analysis results show that the WMR possesses 3 degrees of freedom, and its motion trajectory is a straight line. The ＂pushing＂ and ＂pulling＂ motion patterns of the WMR can be generated by using different wheel orientations. It can be used in the places where the space is limited.     

小波分析在弧焊机器人视觉检测中的应用

针对弧焊机器人薄板对接、搭接焊缝的自动焊接问题,将小波分析应用在CCD直接获取的焊缝图像的处理中,用来提取焊缝轨迹.根据薄板的对接和搭接焊缝图像的特点,建立了斜坡型及梯形小波分析模型,通过对模型的多尺度小波变换和李氏指数的分析,可以区分焊缝的边缘类型,从而增强了焊缝轨迹提取方法的抗干扰性和适应性,也为弧焊机器人的自动化和智能化焊接提供一定的技术参考.     

Research on Miniature Hexapod Bio-robot

This paper described the structure and control of a new kind of miniature hexapod bio-robot, analyzed the moving principle of the robot. The robot is based on the principle of bionics, its structure is simple, design novel, unique. It can move forwards and backwards. The external dimensions of bio-robot is： length 30 mm, width 40 mm, height 20 mm, weight 6. 3 g. Some tests about the model robot were made. The experimental results show that the robot has good mobility.     

机器人用高精度RV传动的研究

机器人用ＲＶ传动是在摆线针轮传动基础上发展起来的一种新型动，它具传动比范围大、结构紧凑体积小、运动精度高、刚度大、回差小、传动效率高等一系列优点，是目前机器人用高精度传动的最佳选择，因而在国内外受到广泛重视，已被列为我国机械工业“九五”关键技术研究项目。在简述其工作原理、结构设计的基础上，着重论述该传动达到二大、二高、二小的主要机理及所研制样机性能试验的结果。     

Depth Camera-Based Robot-Assisted Ultrasonic Lipolysis System

With many advantages such as non-invasive,safe and quick effect,focused ultrasound lipolysis stands out among many fat-removing methods.However,during the whole process,the doctor needs to hold the ultra-sound transducer and press it on the patient's skin with a large pressure for a long time;thus the probability of muscle and bone damage for doctors is greatly increased.To reduce the occurrence of doctors' occupational diseases,a depth camera-based ultrasonic lipolysis robot system is proposed to realize robot-assisted automatic ultrasonic lipolysis operation.The system is composed of RealSense depth camera,KUKA LBR Med seven-axis robotic arm,PC host,and ultrasonic lipolysis instrument.The whole operation includes two parts:preoperative planning and intraoperative operation.In preoperative planning,the treatment area is selected in the camera image by the doctor;then the system automatically plans uniformly distributed treatment points in the treat-ment area.At the same time,the skin normal vector is calculated to determine the end posture of the robot,so that the ultrasound transducer can be pressed down in the normal direction of skin.During the intraoperative operation,the robot is controlled to arrive at the treatment point in turn.Meanwhile,the patient's movement can be detected by the depth camera,and the path of robot is adjusted in real time so that the robot can track the movement of patient,thereby ensuring the accuracy of the ultrasonic lipolysis operation.Finally,the human body model experiment is conducted.The results show that the maximum error of the robot operation is within 5 mm,average error is 3.1 mm,and the treatment points of the robot operation are more uniform than those of manual operation.Therefore,the system can replace the doctor and achieve autonomous ultrasonic lipolysis to reduce the doctor's labor intensity.     

应用于转向机器人的Zigbee无线测控系统

转向机器人操作稳定性试验能客观评价汽车各项行驶性能.针对传统试验存在的布线复杂和易出错等问题,提出了一种基于Zigbee的无线测控系统,以CC2430芯片为核心的多种传感器节点的硬件和软件的总体设计.该系统能够对汽车的动态参数信号进行实时采集,同时可通过ZigBee无线网络进行实时、安全、可靠的通信.     

PRINCIPLE, CONSTRUCTION AND KINEMATIC ANALYSIS FOR THE OMNIDIRECTIONAL MOBILE ROBOT——ICE-SKATER ROBOT

IntroductionAccording to Prof.Shigeo Hirose,there arethree main basic types of locomotion for mobilerobot:1 artificial rotational device,such as wheelsand crawlers,2 legs and 3articulated bodies,which is similar to the body of a snake[1] .Thelegged robot can move on not only an even groundbut rugged terrain and makes omnidirectional mo-tion without slippage,it will increase the totalweight of the robotifa number ofbulky and heavyactuators,steering and braking mechanisms are at-tached to the m…     

并行机器人结构刚度有限元数值模拟

通过有限元数值模拟对并行机器人的结构刚度进行了分析。并行机器人的刚度可以通过有限元数值模拟方法对其进行分析．基于子结构的概念并鉴于大多数并行机器人都具有结构对称性特征。提出了一种有效的数值模拟方法——模块设计方法，并通过一个应用实例显示了这种方法的有效性．对数值模拟结果进行了整理并在此基础上绘制了Isoglide3-T3并行机器人的刚度图。     

基于多连杆的机器人步行机构运动特性分析

在研究设计机器人步行系统过程中,对所设计机器人步行机构的运动特性进行了理论分析和仿真实验,得出了步行机构落足点的运动轨迹曲线.步行机构为多连杆机构,共6组,每组结构相同.该机构采用1台电机,通过机构传动,来实现落足点周期性的运动,从而实现机器人的前进、后退以及一定范围内的越障.该步行机构满足落足点运动轨迹的一般要求：前半个周期实现迈步动作,落足点尽可能的高于地面,并有一定的水平位移;后半个周期使落足点回到初始位置,并保证其轨迹尽可能的与地面平行.     

Eye Robotic System for Vitreoretinal Surgery

Micro incision vitrectomy system (MIVS) is considered to be one of the most difficult tasks of eye surgery,due to its requirements of high accuracy and delicate operation under blurred vision environment.There-fore,robot-assisted ophthalmic surgery is a potential and efficient solution.Based on that consideration,a novel master-slave system for vitreoretinal surgery is realized.A 4-DOF remote center of motion (RCM) mechanism with a novel linear stage and end-effector is designed and the master-slave control system is implemented.The forward and inverse kinematics are analyzed for the controller implementation.Then,algorithms with motion scaling are also integrated into the control architecture for the purpose to enhance the surgeon's operation accu-racy.Finally,experiments on an eye model are conducted.The results show that the eye robotic system can fulfill surgeon's motion following and simulate operation of vitrectomy,demonstrating the feasibility of this system.