关键词： 遥操作   外骨骼   机器人学   运动学映射   主从控制  

摘要： 为了更好地促进机器人适应复杂的遥操作任务,开发了能够精确获取人体上肢运动信息的外骨骼式遥操作主手,并通过异构映射算法,实现对6自由度协作机械臂的遥操作.首先,基于人体仿生结构,设计了可穿戴式8自由度外骨骼主手(臂部7自由度和手部1自由度);其次,通过改进的D-H(Denavit-Hartenberg)方法建立遥操作系统的运动学模型,基于Matlab的机器人工具箱进行了工作空间仿真,并设计主从异构映射算法;最后,实验验证外骨骼主手在遥操作系统中的可操作性,以及工作空间异构映射算法的可行性.实验表明,外骨骼主手能够控制从端机械手臂,且保证末端位置和姿态一致,可在大范围工作空间内复现人体上肢精细运动,主从跟随误差达2 m m,工作空间类似于直径1.08 m的半球形.因此,可穿戴式的外骨骼主手使操作者能更加直观地参与到遥操作系统当中,辅助操作者更加高效地完成精细复杂任务.

关键词： 管道机器人   流固耦合   冲击振动   动力学响应   多体系模型  

摘要： 以管道机器人(Pipeline inspection gauge,PIG)为载体的内检测技术是保障油气管道安全运输的重要手段。针对管内高压流体作用下,管道机器人在冲击管内环焊缝过程中产生的动力学行为突变问题。建立了管道周向受限空间中基于Kelvin弹簧阻尼的管道机器人密封盘等效动力学模型,结合管道机器人本体建立了多体系管道机器人动力学模型;详细推导了管道机器人轴向振动微分方程,以及管内流体的流动方程;并使用Matlab/Simulink与Adams进行流固耦合仿真,作为重要的工艺参数之一,研究了管道机器人速度改变时,其在冲击环焊缝过程中的动力学响应情况。结果表明:所建立的密封盘及管道机器人动力学模型能够很好地表征密封盘在管道轴向、径向以及周向的力学特性;运行速度越快,管道机器人通过环焊缝引起的轴向振动越剧烈,冲击振动越明显;而垂向和俯仰振动现象随运动速度增大而显著减弱。

关键词： 轮式移动机器人   动力学模型   路径跟踪   非完整约束  

摘要： 为了实现轮式移动机器人的自动行驶,建立了轮式移动机器人的路径跟踪控制模型。针对轮式移动机器人具有非完整约束的特点,利用Kane方程建立了轮式移动机器人的动力学模型,消除了非完整约束对动力学建模的影响,直接将非完整约束融入到动力学方程中。同时,采用基于航向预览策略的路径跟踪控制算法来控制轮式移动机器人。并运用MATLAB仿真软件分析了动力学模型及控制算法的控制性能,通过仿真验证了轮式移动机器人控制算法的稳定性。

关键词： 爬壁机器人   充气轮   磁吸附   焊缝   动力学建模  

摘要： 用于远洋渔船外板除锈的爬壁机器人在进行壁面作业时需要翻越焊缝,采用充气轮的爬壁机器人在翻越焊缝后会出现轮胎压缩量的减小,导致磁铁气隙增大、磁铁吸附力减小,从而削弱爬壁机器人的负载能力,降低了壁面行走可靠性,为此对爬壁机器人翻越焊缝的动力学过程进行研究。首先,将驱动轮轮胎简化为弹簧阻尼器,建立爬壁机器人翻越焊缝过程的动力学模型,并将驱动轮的翻越焊缝过程划分为不同的阶段;其次,利用数值方法求解该动力学模型,分析不同胎压下驱动轮翻越焊缝过程中爬壁机器人的运动状态;最后,进行了爬壁机器人翻越焊缝过程试验,结果表明,机器人翻越焊缝过程的试验结果与数值仿真结果基本一致,验证了本文所建动力学模型的正确性与合理性。

关键词： Dual number   n-Order dual number   Space manipulator   Chain-like multi-body   Multi-body dynamics  

摘要： In this study, n-order dual numbers were introduced to derive novel dynamics equations of chain-like multi-body deployed on spacecraft. A multi-body system dynamics equation was proposed in the Newton-Euler form, after dual motor, dual mass and dual momentum were provided by establishing operator (t and operation properties. Translation and rotation motion around base are described in the presented integral models based on n-order dual number. Finally, a chain-like space robot manipulator was designed as a verifying example of the n-order dual number scheme applied to multi-body system dynamics. The simulation results showed that the dynamics of each joint was simplified and the coupling effect between the links was reduced.

关键词： Programming education   Robotics   Block-based programming   Computational thinking   Conceptual knowledge level  

摘要： This study compared the pedagogical effects of educational robot development and the block based programming perspectives, which are used in programming education, on middle school students. Its participants were 78 sixth graders. Considering the students' preferences, 38 students were assigned to the experimental group, which studied with robotics (Lego EV3) sets, and 40 students were assigned to the control group, which studied with block-based programming environment (Scratch). All the topics of the programming unit, which are shown in the methods section, were taught to both groups for 10 weeks using the two different approaches. The change created by the implementation between the groups was tested for academic achievement, computational thinking skill efficacy perceptions, and conceptual knowledge levels. The results indicate that educational robotics develop middle school students' academic achievement and computational thinking skill efficacy perceptions more effectively than block-based programming environments. The connections between the concepts of the students who did robotics were also found to be more solid than those who worked with block-based software.

关键词： Robotics   Pediatric otolaryngology   Surgical planning  

摘要： Robotic surgery has been shown to be feasible and successful in several areas of pediatric head and neck surgery. However, adoption has been limited. Robotic surgery may be better integrated into practice with advanced preoperative surgical planning and the design of new robotic platforms with instrumentation specific for the application. With continued investigations, computer-aided surgical planning techniques including three-dimensional printing, virtual reality, multiobjective cost function for optimization of approach, mirror image overlay, and flexible robotic instruments may demonstrate value and utility over current practice.

关键词： Robot   Robotics   Ethics   Machine ethics   Technology   Responsibility   Philosophy  

摘要： The task of this essay is to respond to the question concerning robots and responsibility-to answer for the way that we understand, debate, and decide who or what is able to answer for decisions and actions undertaken by increasingly interactive, autonomous, and sociable mechanisms. The analysis proceeds through three steps or movements. (1) It begins by critically examining the instrumental theory of technology, which determines the way one typically deals with and responds to the question of responsibility when it involves technology. (2) It then considers three instances where recent innovations in robotics challenge this standard operating procedure by opening gaps in the usual way of assigning responsibility. The innovations considered in this section include: autonomous technology, machine learning, and social robots. (3) The essay concludes by evaluating the three different responses-instrumentalism 2.0, machine ethics, and hybrid responsibility-that have been made in face of these difficulties in an effort to map out the opportunities and challenges of and for responsible robotics.