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.     

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.     

机器人焊割柱管相贯线的路径规划研究

近年来,柱管接管相贯线接缝焊割由传统的手工焊逐渐被焊割机器人操作所代替。本文建立了圆锥、球体与柱管相贯线的一般化数学模型,并将空间相贯线展成平面曲线,利用等步长原理获取焊割轨迹的路径点。为保证焊割精度,步长的数值由输入的允许插补误差值经计算获得。文中还给出了柱管相贯线获取焊割路径点的流程图。此方法方便了焊割程序的编制,提高了工作效率,同时又保证了焊割的平稳性和精确性。最后给出了一个常见的柱管相贯实例,利用Matlab软件编程得到了其相贯线焊割路径点。     

基于装配序列分析的船体结构焊接位置仿真算法

为合理计算焊接工时,在普适的船舶结构装配原则基础上,根据最小装配、相邻装配、同分支非相邻装配,不同分支装配的焊接阶段、装配基面朝向判定方法、以及焊接位置简化计算原则,构建船体结构焊缝装配仿真算法,通过由装配基面方向进一步计算得到焊接轴线和焊接体朝向,结合中国船级社相关规范确定焊接位置,在Smart3D?软件三维空间中实...     

ANALYZING ON THE VIBRATION CHARACTERISTICS OF A MICRO PIEZOELECTRIC ROBOT IN PIPELINE

IntroductionIt is very important to master the locomotionprinciple of a micro piezoelectric actuator for peo-ple to design a micro piezoelectric actuator or arobot. so far,experimental method has been theonly approach available to design a micro piezoelec-tric actuator or a robot[1～ 4 ] .As a result,itis diffi-cult to make a parameterized design or an optimaldesign for a micro piezoelectric robot. Therefore,it is in dire need to constitute the locomotion equa-tion of the robot. In the paper,t…     

Real-Time Fuzzy Obstacle Avoidance Using Directional Visual Perception

This paper presents a novel vision-based obstacle avoidance approach for the Autonomous Mobile Robot (AMR) with a PanTilt-Zoom (PTZ) camera as its only sensing modality. The approach combines the morphological closing operation based on Sobel Edge Detection Operation and the (μ-kσ) thresholding technique to detect obstacles to soften the various lighting and ground floor effects. Both the morphology method and thresholding technique are computationaUy simple. The processing speed of the algorithm is fast enough to avoid some active obstacles. In addition, this approach takes into account the history obstacle effects on the current state. Fuzzy logic is used to control the behaviors of AMR as it navigates in the environment. All behaviors run concurrendy and generate motor response solely based on vision perception. A priority based on subsumption coordinator selects the most appropriate response to direct the AMR away from obstacles. Validation of the proposed approach is done on a Pioneer 1 mobile robot.     

型钢加工机器人运行轨迹偏差补偿

提出一个离线编程控制的机器人运行轨迹补偿方法,以解决通用机器人无法适应变形型钢的切割加工难题.一个激光传感器安装在机器人臂端,在机器人执行划线、切割加工前,通过激光位移传感器对工件的形状和位置进行检测,测量数据经数据处理转化为型钢采样点三维坐标,构建型钢实际形状的简化三维模型,并按补偿规则计算加工图形要素补偿量,在线修正机器人运行轨迹坐标.     

大断面隧道PM500PC型机械手喷射混凝土配套施工技术

目前我国长大重难点隧道施工技术突飞猛进,但在隧道施工环境、机械化配套方面与世界相比仍存在较大差距。本文依托厦(门)—深(圳)铁路梅林隧道大断面机械手喷射混凝土施工,详细介绍了PM500PC型机械手的结构组成、适用条件、操作要点等内容,重点对机械手喷射混凝土作业时的灵活性、快速性、方便性、工前准备时间短、使用经济性、施工安全性等六个方面进行了阐述,并与传统湿喷机械进行了比较分析,为普及推广使用机械手喷射混凝土提供了良好的经验借鉴。     

面向船舶小组立的门式机器人焊接系统应用

整理焊接机器人软硬件的发展情况。通过与传统制造过程的生产效率对比,论述门式机器人焊接系统在船舶小组立中的应用优势,梳理该系统的应用难题,并提出该系统的发展方向,为船舶制造在精益生产、智能制造、数字化/自动化/集成化方面补齐短板。     

测量机器人在黄土地区地铁结构安全保护中的应用

以西安地铁2号线安全保护区内施工的南门广场改造提升项目及南门隧道工程为依托,对永宁门车站及钟楼站—永宁门区间隧道进行测量机器人自动化监测。通过对监测数据的分析,证明自动化监测具有较高的可靠性,可代替传统测量手段应用于地铁结构的安全监测。研究显示,受上覆土体开挖的影响,盾构隧道会出现隆起及竖椭圆受力变形。