基于工业机器人的高铁腕臂预配系统研发与应用

高速铁路供电系统接触网腕臂预配,一般采用人工集中加工预制方式,存在人工误差难以受控、精度难保障、效率受限制等明显缺点。针对上述问题,本文提出一种基于工业机器人的高速铁路腕臂预配方法及系统,系统集成数据流转、自动喷码、管件切割、零部件定位等功能,实现具备数据分析应用的智能化接触网腕臂预配,其预配精度可达±2 mm,紧固力矩偏差小于±1 N·m。为进一步提升高速铁路供电系统工程质量提供更高效的技术手段,具有广阔的推广应用前景。     

基于组合自动优化策略的水下机器人型线设计（英文）

In this paper, a hybrid automatic optimization strategy is proposed for the design of underwater robot lines. Isight is introduced as an integration platform. The construction of this platform is based on the user programming and several commercial software including UG6.0, GAMBIT2.4.6 and FLUENT12.0. An intelligent parameter optimization method, the particle swarm optimization, is incorporated into the platform. To verify the strategy proposed, a simulation is conducted on the underwater robot model 5470, which originates from the DTRC SUBOFF project. With the automatic optimization platform, the minimal resistance is taken as the optimization goal; the wet surface area as the constraint condition; the length of the fore-body, maximum body radius and after-body's minimum radius as the design variables. With the CFD calculation, the RANS equations and the standard turbulence model are used for direct numerical simulation. By analyses of the simulation results, it is concluded that the platform is of high efficiency and feasibility. Through the platform, a variety of schemes for the design of the lines are generated and the optimal solution is achieved. The combination of the intelligent optimization algorithm and the numerical simulation ensures a global optimal solution and improves the efficiency of the searching solutions.     

库卡机器人回原点故障排除

随着科学技术发展和我国企业经济实力壮大,国内许多企业因产品质量和成本控制需要,机器人在工业生产中应用越来越多,机器人操作、维修技术知识学习交流日益显得重要,现以工作中几个故障问题排除方法和思路与同行探讨交流,共同提高此类设备使用维修技术。     

扩展层级建模方法及其在挖掘机器人中的应用

为了解决质量矩阵奇异时传统动力学建模方法失效和外力模型与约束力模型耦合时的解耦问题,基于复杂多刚体系统层级堆聚建模理论,提出了一种新的扩展层级建模方法.以挖掘机器人为研究对象,建立了其工作装置的动力学解析模型,并对其进行了数值仿真.结果表明:当子系统质量矩阵奇异时,扩展层级建模方法利用质量补充矩阵可得到子系统动力学解析模型通式;当子系统的外力和约束力耦合时,扩展层级建模方法借助约束方程的二阶形式可获得解耦的外力模型,该模型仅与系统广义位置、广义速度和时间变量相关;仿真结果连续、收敛,表明扩展层级建模方法在挖掘机器人中的应用有效、可行.     

汽车集成式电子真空助力器系统设计

为满足汽车驾驶辅助系统对于辅助制动装置越来越高的要求,提出了一种基于汽车普通制动真空助力器的集成式电子真空助力器系统(Electronic Vacuum Booster,EVB)。在对系统整体结构进行设计的基础上,基于电磁铁数学模型对EVB关键零部件电磁铁参数进行了优化设计。为实现基于EVB的驾驶辅助系统控制器设计,对包括控制器和执行器在内的EVB整体系统模型进行了辨识。试验结果表明:所开发的EVB系统能快速、精确地响应制动指令,可广泛应用于自适应巡航控制系统、走-停巡航系统及主动避撞系统等驾驶辅助系统。     

一种船舱除锈喷漆移动机器人的设计

依据船舶修造行业的现状,多方面考虑适应各种不同大小船舶的使用条件,提供一种可满足各种船舱除锈喷漆工艺技术要求的除锈喷漆移动机器人的设计,通过变换机器人前端手部不同工具,实现在同一台机器人上既能够进行除锈作业,也能够进行喷漆作业,尤其是能够实现在船舱中的三维空间作业面的方便转换和简单曲面的连续除锈喷漆作业.     

基于测量机器人的深基坑围护结构变形监测技术探讨

为克服常规基坑围护结构变形监测方法涉及设备多、布点要求高、所需观测人员多、监测成本大、测斜管一旦破坏很难恢复的弊端,提出基于测量机器人开发深基坑自动监测系统,实现对深基坑围护结构体三维位移的自动监测,并对测量机器人开发自动控制软件需注意的问题及控制流程做了阐述。通过对监测网的布设、测量方法与程序流程、系统误差及系统构成的研究分析及在实际项目中的应用表明:在无支撑结构通视条件较好的深基坑监测中,用测量机器人代替经纬仪、全站仪人工测量、测斜仪、分层沉降仪实现围护结构的整体监测是可行的,可节约监测成本,提高监测效率;另外,当测斜管被破坏时,可以作为补充手段,监测基坑不同深度的水平位移。     

Disturbance compensation with a torque controllable steering system

Via a conventional steering system the driver perceives desired and disturbing effects such as road feedback and resonance effects, respectively. They appear with overlapping frequency spectra within the driver's steering torque. This paper introduces a control algorithm that is suppressing periodic disturbances without affecting useful steering road feedback attributes as well as regular power assistance characteristic. This is realised by an integrated torque actuator within the steering column in conjunction with a conventional Hydraulic-assisted Power Steering (HPS) system.     

Real-time characterisation of driver steering behaviour

In recent years the application of driver steering models has extended from the off-line simulation environment to autonomous vehicles research and the support of driver assistance systems. For these new environments there is a need for the model to be adaptive in real time, so the supporting vehicle systems can react to changes in the driver, their driving style, mood and skill. This paper provides a novel means to meet these needs by combining a simple driver model with a single-track vehicle handling model in a parameter estimating filter – in this case, an unscented Kalman filter. Although the steering model is simple, a motion simulator study shows it is capable of characterising a range of driving styles and may also indicate the level of skill of the driver. The resulting filter is also efficient – comfortably operating faster than real time – and it requires only steer and speed measurements from the vehicle in addition to the reference path. Adaptation of the steer model parameters is demonstrated along with robustness of the filter to errors in initial conditions, using data from five test drivers in vehicle tests carried out on the open road.

Abbreviations: ADAS: advanced driver assistance systems; CG: centre of gravity; CAN: controller area network; EKF: extended Kalman filter; GPS: global positioning system; UKF: unscented Kalman filter