关键词： 串并混联机械腿   动力学分析   能耗性能指标   四足仿生机器人   Lagrange方程  

摘要： 对一种可快速行走、承载能力大及侧向解耦较好的串并混联四足仿生机器人进行动力学建模与分析。阐述了腿部机构的布局,进行了运动学分析,建立了具有显式的线速度雅可比矩阵,并推导了各构件的速度与末端线速度的显式表达式。采用Lagrange方程建立了显式的腿部机构动力学方程,推导了腿部机构的逆动力学方程。通过实例对腿部机构的逆动力学方程进行验证,分析了步长对驱动液压缸最大输出力的影响规律;依据逆动力学方程建立了仿生机器人的移动能耗性能指标,并对仿生机器人的移动能耗进行了分析。实例与分析表明,动力学方程理论推导正确;在腿部足端着地的瞬间各驱动液压缸产生最大输出力,与抬腿高度无关;在直线行走和侧向行走时,随着步长的增加,液压缸输出力单调增大;在腿部机构侧向行走时,3个驱动缸中侧摆缸输出力最大。

关键词： 分拣搬运机器人   STM32F103C8T6单片机   灰度识别   颜色识别   五自由度机械臂  

摘要： 为了实现仓库中多重目标的复杂搬运及堆垛任务,设计了一款光电分拣搬运机器人。该分拣搬运机器人以STM32F103C8T6单片机为主控芯片,采用灰度传感器SEN1595识别地面标识,通过颜色传感器GY-33识别物料颜色;机械臂与末端夹取机构利用PDI-6221MG舵机驱动五自由度小型机械臂,在保持末端处于垂直状态下,平稳抓取物料并存放至搬运车腹部的中心转盘内;仓储分拣机构通过PDI-6225MG-300舵机驱动中心转盘转动至5个档位;采用LV8731细分器控制步进电机MG42S1,驱动车体行进至目标堆垛区域;通过机械臂夹取转盘内的物料,结合堆垛辅助机构完成堆垛任务。在搬运工程赛项实验平台任务中,系统测试成功率达96%,满足使用要求。通过该分拣搬运系统可提高分拣运输自动化、智能化程度,改善物流仓储工作中人工依赖性较高的现状。

关键词： 深度学习   强化学习   机器人学  

摘要： 首先,对深度强化学习(DRL)的兴起与发展进行了回顾.然后,将用于高维连续动作空间的深度强化学习算法分为基于值函数近似的算法、基于策略近似的算法以及基于其他结构的算法3类,详细讲解了深度强化学习中的最新代表性算法及其特点,并重点阐述了其思路、优势及不足.最后,结合深度强化学习算法的发展方向,对使用深度强化学习方法解决机器人学问题的未来发展趋势进行了展望.

关键词： 微型机器人   科研人员   蚁群   开发   中国   协同作业   靶向给药   机器人学  

摘要： 中国科研人员日前开发出一种磁性微游动机器人,可像“蚁群”一样成千上万地组队协同作业,有望为高效靶向给药和体内成像提供解决方案。发表在新一期美国《科学·机器人学》杂志上的这一研究显示,这种呈花生状的磁性机器人长3μm,直径2μm,只有头发丝直径的约1/40。由大量这种机器人组成的群体可在旋转磁场的调控下变为长链,在狭长的模拟毛细血管中穿行。

关键词： 系统动力学   机器人产业   产业发展路径  

摘要： 在创新资源有限的情况下,如何在机器人系统集成、机器人本体、关键零部件等产业链各领域合理分配创新资源,是亟待解决的关键问题。基于系统动力学模型建立了工业机器人产业发展模型,并以实际数据对机器人产业不同领域发展进行了仿真分析。研究发现,工业机器人产业发展初期,产业政策支持重点应以系统集成为主,机器人本体和关键零部件发展为辅;在后期,机器人本体领域发展逐渐超过系统集成领域,在此阶段,应以机器人本体和关键零部件为主,系统集成为辅。

关键词： Autonomous underwater vehicles  

摘要： Search and survey missions of an autonomous underwater robot are usually associated with motion along equidistant trajectories near the bottom. The most difficult problem here is to control motion in a vertical plane in presence of obstacles in the bottom relief along the motion route. When the obstacles are detected using a multi-channel front-viewing echolocation system, equidistant motion of the vehicle is provided with tracking of the bottom relief profile. The dynamic model of motion with specific requirements for the structure and control parameters is studied. Comparative analysis of the dynamic properties of control system depending on the design and functional features of the actuating elements and the range-measuring echolocation system is presented. © 2019, Pleiades Publishing, Ltd.

关键词： 潍坊市教育局   机器人竞赛   青少年   山东省   科协   淮坊市   技能比赛   人民政府  

摘要： 近日,由山东省潍坊市科协、潍坊市教育局、潍坊市坊子区人民政府主办,潍坊市创新教育研究院等承办的第19届潍坊市青少年机器人竞赛在潍坊第四中学举办。大赛分高中、初中和小学等3个组别,包括机器人综合技能比赛,机器人创意比赛,FLL机器人工程挑战赛,VEX机器人工程挑战赛等5个项目,每个项目围绕当下机器人发展各自设置了“华夏文明”“聪明的机器人”“太空之旅”“反败为胜”“人工智能”的竞赛主题。

关键词： Kinematic modeling   Parallel robot   Dynamic modeling   Constrained system equations   Virtual work  

摘要： In this paper, a type of parallel robot with three translational degrees of freedom is studied. Inverse and forward kinematic equations are extracted for position and velocity analyses. The dynamic model is derived by Lagrange's approach and the principle of virtual work and related computational algorithms implementing inverse and forward dynamics are presented. Furthermore, some numerical simulations are performed using the kinematic and dynamic models in which the results show good agreement with expected qualitative behavior of the mechanism. Comparisons with the results of work-energy and impulse-momentum methods quantitatively verify the validity of the derived equations of motion. Also, a relative computational effectiveness is observed in implementation of virtual work model via the simulations.

关键词： Virtual laboratories   educational platforms   teaching experiment   3D simulations  

摘要： During the last decade, students of mechanical engineering, electrical engineering, and mechatronics have been interested in studying robotics. It is a challenge for robotics course professors to get students to clearly understand the basic theoretical concepts for its correct application to solve problems, and to motivate them to achieve the best performance. Previous works proposed the use of 3D models to perform the simulation of industrial robots in class and consequently to reinforce the students' theoretical and practical concepts. However, it has not yet been clearly demonstrated how the use of robots and simulations helps improve students' academic performance. In this paper, the main contribution consists of a formal evaluation in which the comparison between the use of two teaching methods was carried out. In the first teaching method (traditional method), the professor used PowerPoint presentations and oral explanations to teach theoretical concepts and solve exercises (Group A). In the second teaching method, the professor added the use of 3D simulations together with the traditional method to teach theoretical concepts and solve exercises (Group B). Students of both groups performed the same written exam about forward kinematics in order to study and analyse the differences between the methodology used with Group A and the methodology used with Group B. This exam consisted of solving three exercises with different robot complexity levels. The results demonstrate that the performance of the students in group B is significantly better than that of the students in group A. In other words, the use of 3D simulations improves student's academic performance, and provides a teaching tool to enhance the way the professors teach.