关键词： 机器人学   教学改革   教学实践   机器人工程  

摘要： 机器人学是机器人工程专业、机械电子工程专业学位课程、专业基础课程,涉及机械、电子、控制、计算机等多学科融合,具有理论性、综合性、实践性强等特点。以重庆文理学院机械电子工程专业开设的《机器人学基础》课程为例,在分析应用型本科院校机器人学课程教学现状和存在问题基础上,从教学内容组织、教学方法、实践教学、教学过程等方面进行了改革和探索,提高了教学质量和教学效果。

关键词： 量化状态系统   动力学   机器人   数值积分   仿真  

摘要： 量化状态系统(Quantized state system,QSS)方法是一种新的数值积分方法,它与传统基于时间离散的积分方法不同,QSS方法对状态变量进行离散,依次计算每次状态变量跃迁所需要的时间,从而推进积分。针对柔性关节机器人动力学刚性方程的求解问题,提出一种基于量化状态系统的步进校正优化算法(Step correction optimization algorithm,SCOA)。它结合QSS方法及隐式算法中梯形积分法的思想,以有效提高动力学求解的精度和效率。通过对四自由度柔性关节机器人动力学刚性方程的仿真求解,证明了算法的可行性。将SCOA算法与传统数值积分方法和QSS方法从仿真效率与仿真精度两方面进行性能对比,结果表明,SCOA算法在保证仿真效率的同时能有效提高仿真精度,算法性能优于传统方法和QSS方法。

关键词： 爬壁机器人   负压吸附   动力学模型   越障性能  

摘要： 针对爬壁清洗机器人越障时,负压装置的吸附力下降导致吸附不稳定的问题,设计了一种旋翼负压混合吸附工作的多边形履带清洗机器人,并对爬行稳定性及越障性能进行了动力学分析。首先根据机器人爬壁的运动原理,建立机器人沿玻璃幕墙上的动力学模型,计算出电机理论驱动力矩;其次分析机器人在跨越障碍过程中的运动模型,结合与壁面接触的实际受力状态,对越障过程中关键阶段的本体倾翻、滑移两种失效形式进行运动学和动力学分析;然后根据玻璃幕墙实际的障碍高度,确定多边形履带的参数和理论驱动力矩的大小,并研制了实验样机进行爬行和越障试验,结果表明所设计的机器人具有良好的越障性能。

关键词： 重载搬运机器人   动态性能   能量耗散   五次多项式插值算法   机电联合仿真  

摘要： 关节型重载搬运机器人各运动关节动态性能和能量耗散水平直接影响机器人以及运动规划的可达性。以ABB公司生产的IRB460型重载搬运机器人为研究对象,针对其机械本体结构特性,建立重载搬运机器人三维模型。若仅考虑回转轴、大臂和小臂组成的三个自由度,重载搬运机器人系统模型可简化成空间三关节机器人系统模型;依据拉格朗日力学方程建立重载搬运机器人系统动力学模型,利用机械臂逆运动学和五次多项式插值算法完成对多关节机械臂空间轨迹规划。通过动力学仿真分析可知,重载搬运机器人各运动关节的动态性能变化稳定且能量耗散较小,且能够沿着预定轨迹完成PTP模式的运动控制。最后,搭建控制系统仿真实验平台,提出一种重载搬运机器人控制系统模型,实验结果表明,所设计的重载搬运机器人控制系统能够准确、稳定的控制各运动关节运动,验证了各运动关节驱动电动机功率参数选择的合理性,为实际的工业生产应用奠定了理论基础。

关键词： 弹药装填机器人   旋量理论   动力学  

摘要： 针对弹药装填机器人动力学模型存在耦合性、非线性的特点,提出了基于旋量理论的弹药装填机器人动力学建模方法。通过构建弹药装填机器人的动能旋量、势能旋量和驱动力旋量,进而确定了弹药装填机器人惯性力、重力、哥氏力与离心力的数学模型,最后建立了基于旋量理论的弹药装填机器人拉格朗日动力学方程。通过动力学仿真分析验证了该方法的合理性,为下一步的控制策略打下坚实基础。

关键词： Agricultural robotics   Precision livestock farming   Poultry production systems   Machine capabilities   System integration  

摘要： The advent of agricultural robotics research worldwide has brought substantial improvement for various applications. This article provides a comprehensive review of published research and development work, emphasizing robotics enabling machine capabilities. These machine capabilities of perception, reasoning and learning, communication, task planning and execution, and systems integration have opened possibilities for intelligent automation of current and future agricultural operations, including precision livestock farming. We have focused on the Agricultural Intelligent Automation Systems which have a high potential to be applied to agricultural production and processing, especially with applicability to poultry production. Most of the published work on agricultural robotics has been in the areas of perception and reasoning. The emphases have been in the identification of objects, evaluation of product quality, monitoring of plant and animal growth and development, yield prediction, and machine guidance. There has been limited published work on the task execution and systems integration aspects of agricultural robotics. Moreover, we have reviewed agricultural robotics research from 24 universities worldwide. Agricultural robots can be divided into three categories (monitor, harvester, and both) according to various functions. Several tables are presented to summarize the information on the key subject areas reviewed in this article. We have found that there are still many challenges that need to be addressed in robotizing agricultural tasks in general and in poultry production specifically. The most common challenges in robotics applications have been developing robots for specific agricultural tasks. Examples in poultry production include monitoring environmental conditions and chicken health, egg picking, and encouraging chicken movement. The approaches to addressing the technical needs have been creating intelligent movable machines for use alongside the chicke

关键词： Disadvantage   Analysis   Surgical robotics   Spine surgery   Intelligent orthopedic  

摘要： In the past decade, intelligent medical technology has been a hot research direction, which results in a series of products such as image-assisted AI and tumor diagnostic auxiliary systems. In the field of surgery, surgical robotics is one of the most attractive intelligent technologies. After nearly a decade of revolution, robots have shown much superiority in spine surgery, and many published studies on accuracy and radiation volume have reported these advantages. However, in reviewing these articles, we found that some of them mentioned the shortcomings of robots, which led us to review the comprehensive evaluation of spinal robots. In this article, we summarize the aspects that have been mentioned in published articles as well as unpublished ones that we have concluded. Through these summaries, we hope that future researchers will be able to make targeted improvements to robots and broaden the future direction of spine surgery robotics. Spine surgical robotics is still widely believed to have a brilliant future application, but it needs to solve the disadvantages of not having a wide application range, not having a deep application depth and not having prominent advantages compared with other existing application technologies.

关键词： Elementary education   Robotics programming   Computational thinking   Creativity   Prior skill   Gender difference  

摘要： Around the world, programming education is actively promoted by such factors as economic and technical requirements. The use of a robot in programming education could help students understand computer-science concepts more easily. In this study we designed a course in programming a robot for elementary school students and investigated its effectiveness by implementing it in actual classes. We further examined the effects of students' prior skills and of gender on the outcomes. In addition, we reviewed the applicable teaching and learning strategies in the field of robotics programming. Our course in programming a robot was implemented for 155 Korean elementary school students in the fifth and sixth grades. The course was conducted for 11 weeks. Our results show that teaching programming by using a robot significantly improved computational thinking and creativity. Computational thinking, however, was not significantly improved in the group that initially showed high scores. Further, creativity was improved more in girls than in boys, and the mean difference was statistically significant, but the difference in computational thinking was not. The implication of this study is that the best approach is to design a course in programming a robot and apply it in actual classrooms in order to discuss teaching and learning strategies according to students' prior skills and their gender.

关键词： Service robots   Robot sensing systems   Dynamics   Satellites   Delay effects   Mathematical model   Hardware-in-the-loop simulation   passive integrator   space robotics   time-delay compensation  

摘要： This article proposes a passivity-based approach for simulating satellite dynamics on a position-controlled robot equipped with a force-torque sensor. Time delays intrinsic in the computational loop and discrete-time integration degrade the behavior of the satellite dynamics reproduced by the robot. These factors can generate an energy-inconsistent simulation and can even render the system unstable. In this article, time delay and discrete-time integration effects are analyzed from an energetic perspective and compensated through a passivity-based control strategy to ensure a faithful and stable dynamic simulation with position-controlled robots. The benefit of the proposed strategy is validated by simulations and experiments on the On-Orbit Servicing Simulator (OOS-SIM), a robotic facility used for simulating free-floating dynamics.

关键词： ergonomics   fatigue   minimally invasive surgery   laparoscopy   robot  

摘要： We aimed to use hand dexterity and grip strength test as objective measures to compare the difference in surgeon fatigue associated with robotic and laparoscopic colorectal surgery. We used the Purdue Pegboard Test to assess hand dexterity and the Camry Electronic Handgrip Dynamometer to assess hand grip strength. Eighteen patients were operated on, including 10 robotic and 8 laparoscopic cases. Statistical analysis revealed no difference in dexterity or muscle fatigue after operating with the robot. In contrast, there was a significant difference in the hand grip strength of both hands after laparoscopic surgery. Our results show that the resultant fatigue after laparoscopy affects both hands of the surgeon. In contrast, there was no difference in dexterity or muscle fatigue after operating with the robot. Given the demands of complex colorectal surgeries, robotics may be a means of optimizing surgeon performance by reducing fatigue.