关键词： 六自由度   轨迹规划   动力学  

摘要： 以6-DOF双臂机器人为研究对象,利用MATLAB建立D-H模型,对运动轨迹分别进行七次多项式插值和5次B样条插值,最后通过Adams建立机械臂虚拟样机,对其进行动力学仿真。仿真结果表明B样条曲线插值法对运动轨迹插值有较好地适应性,为机械臂运动控制问题研究提供了必要的理论基础。

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： Care robotics   service ecosystem   health and care technologies   service business orientation  

摘要： Many countries are investing in the development of robotic applications for health and elderly care services. Some care robots have already been commercialized, and new products are being prepared for future markets. However, generating profitable business from care robots is somewhat challenging and the business ecosystem is growing quite slowly. This paper focuses on emerging care robot business opportunities from the perspective of companies operating on the care technology field. Based on interviews of 10 companies and an online survey data of 13 companies, all from Finland, we highlight the potential and barriers in the care robot business, and suggest actions supporting the growing ecosystem. By using the service ecosystem framework, we describe the business enablers and challenges in a care robot context.

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： Identification   Milling   Modal analysis   Robot  

摘要： Using industrial robots as machine tools is targeted by many industries for their lower cost and larger workspace. Nevertheless, performance of industrial robots is limited due to their mechanical structure involving rotational joints with a lower stiffness. As a consequence, vibration instabilities, known as chatter, are more likely to appear in industrial robots than in conventional machine tools. Commonly, chatter is avoided by using stability lobe diagrams to determine the stable combinations of axial depth of cut and spindle speed. Although the computation of stability lobes in conventional machine tools is a well-studied subject, developing them in robotic milling is challenging because of the lack of accurate multi-body dynamics models involving joint compliance able of predicting the posture-dependent dynamics of the robot. In this paper, two multi-body dynamics models of articulated industrial robots suitable for machining applications are presented. The link and rotor inertias along with the joint stiffness and damping parameters of the developed models are identified using a combination of multiple-input multiple-output identification approach, computer-aided design model of the robot, and experimental modal analysis. The performance of the developed models in predicting posture-dependent dynamics of a KUKA KR90 R3100 robotic arm is studied experimentally.

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： Endoscope holder   Endoscopy   Preclinical   Robotics   Skull base surgery   Transsphenoidal  

摘要： BACKGROUND: A robotic endoscope holder theoretically provide various advantages in transnasal endoscopic skull base surgery, but only recently has a robotic system become commercially available. The objective of this study was to provide a preclinical evaluation of potential advantages and surgeon first impression of this robotic hybrid solution. METHODS: Thirty skull base surgeons, attending the Joint European Diploma of Endoscopic Skull Base Surgery 2018-2019 in Paris, France, were enrolled. A questionnaire, mainly concerning personal surgical experience and habits, was administered. The test phase consisted of 2 different dry-lab tasks, performed with and without EndoscopeRobot, according to randomization and on 2 different days. A modified NASA Task Load Index test was subsequently administered via e-mail to all participants. Completion times and modified Global Evaluative Assessment of Robotic Skills in Endoscopy scores of the videotaped tasks were recorded. RESULTS: Nineteen otorhinolaryngologic surgeons and 11 neurosurgeons, with different surgical habits and endoscopic experience, were enrolled. No one appeared unfavorable a priori to robotic endoscopic surgery. Although the robot did not provide an advantage in the simple grasping task 1, a trend toward better completion times and efficacy was evident in the bimanual task 2, when performed with the robot and bimanually. According to the modified NASA Task Load Index test, surgeons felt more successful with the robot in task 2, finding it less stressful and mentally demanding. CONCLUSIONS: Endoscopic skull base surgeons seem to view a hybrid robotic solution positively. EndoscopeRobot seems to provide a benefit to the single surgeon with experience in bimanual endoscopic surgery. Further preclinical and clinical evaluation of this technology is necessary.

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.

关键词： Hazards   Robots   Task analysis   Unified modeling language   Collaboration   Risk management   Formal methods   human-robot collaboration (HRC)   model-based risk assessment   robot safety   temporal logic  

摘要： A crucial aspect of physical human-robot collaboration (HRC) is to maintain a safe common workspace for human operator. However, close proximity between human-robot and unpredictability of human behavior raises serious challenges in terms of safety. This article proposes a risk analysis methodology for collaborative robotic applications, which is compatible with well-known standards in the area and relies on formal verification techniques to automate the traditional risk analysis methods. In particular, the methodology relies on temporal logic-based models to describe the different possible ways in which tasks can be carried out, and on fully automated formal verification techniques to explore the corresponding state space to detect and modify the hazardous situations at early stages of system design.