关键词： 变结构机器人   非完整约束   动力学模型   车厢结构  

摘要： 本文的研究对象是一款变结构轮式机器人,通过结构变换成三种不同的结构:自行车、Segway和三轮车。根据不同的工作环境和需求转换到相应的工作模式。本文针对该机器人的结构设计,运动特性,动力学模型以及控制策略等方面进行了研究。首先,本文对自行车、Segway和三轮车的结构和运动特性进行了分析,对比异同并基于切换需求设计了变结构轮式机器人的机械结构。在基于无滑动摩擦的前提下,对变结构轮式机器人的运动特性进行分析,根据不同的运动特性得到自行车模式,Segway模式与自行车模式与Segway模式之间的切换过程的非完整约束。基于Kane方法建立了变结构机器人处于自行车模式、Segway模式以及两种工作模式之间的切换过程的动力学模型。在动力学模型的基础上,本文基于平衡点附近的近似条件将变结构机器人在自行车模式的非线性动力学模型线性化,并设计了PID控制器。本文使用Matlab中的Simulink模块对设计的控制器进行了平衡控制仿真。从仿真结果可以看出,设计的PID控制器可以实现机器人的前车叉转角、前车轮转角角速度以及横滚角的控制。最后,在比较了三轮车、Segway和自行车之间运动特性的差异后,设计了一款防侧翻的车厢结构,使得三轮车运动具有自行车运动的特点。自行车后轮的接地点类似于一个铰链,直行时车架不会左右晃动,在转向时车架可以倾斜一定角度。基于自行车接地点的类铰链原理,在三轮车厢接点处设计一个铰链,可以实现与自行车运动类似的特性。在直行时调整铰链角度保持车厢竖直,在转向时调整车厢偏转,实现类似于自行车的乘坐体验。

关键词： Robotics   Mobile robots   Service robots   Robot design   Machine intelligence   Flexible manufacturing  

摘要： Purpose - The following paper is a "Q&A interview" conducted by Joanne Pransky of Industrial Robot Journal as a method to impart the combined technological, business and personal experience of a prominent, robotic industry engineer-turned successful innovator and leader, regarding the challenges of bringing technological discoveries to fruition. This paper aims to discuss these issues. Design/methodology/approach - The interviewee is Martin Haegele, a renowned expert in industrial and service robot applications, technologies and markets. He is Division Director "Intelligent Automation and Clean Manufacturing" and Head of the department "Robot and Assistive Systems" at the Fraunhofer Institute for Manufacturing Engineering and Automation (Fraunhofer IPA). In this interview, Haegele details some of the robotics projects he led and provides his outlook on the European robotics industry. Findings - Haegele received a Diploma. in Mechanical Engineering from the University of Stuttgart in 1989 and a Master of Science in Mechanical Engineering from George Washington Univeristy, Washington DC, University in 1989. Haegele has led the Robot Systems Department at the Fraunhofer Institute for Manufacturing Engineering and Automation IPA in Stuttgart, Germany since 1993, and is a member of the Fraunhofer IPA Board. Originality/value - Inspired by the book Robotics in Service written by Joseph Engelberger in 1989, Haegele spearheaded ground-breaking applications in the service robot industry. He led a German study on the market potentials and challenges of service robots. He was the project leader and supervisor of numerous service robot developments including a fuel-refilling robot resulting in a fully operational gas station and several generations of mobile robots developed for museums, shopping centers and home applications. Haegele coordinated many publicly funded research projects to develop robot technologies for industrial and service applications. He was coordinator of t

关键词： Biomimetics   Autonomous robots   Robot design   Unmanned aerial vehicles (UAV)  

摘要： Purpose - This paper aims to develop a novel type of bionic underwater robot (BUR) with multi-flexible caudal fins. With the coordinate movement of multi-caudal fins, BUR will combine the undulation propulsion mode of carangiform fish and jet propulsion mode of jellyfish together organically. The use of Computational Fluid Dynamics (CFD) and experimental method helps to reveal the effect of caudal fin stiffness and motion parameters on its hydrodynamic forces. Design/methodology/approach - First, the prototype of BUR was given by mimicking the shape and propulsion mechanism of both carangiform fish and jellyfish. Besides, the kinematics models in both undulation and jet propulsion modes were established. Then, the effects of caudal fin stiffness on its hydrodynamic forces were investigated based on the CFD method. Finally, an experimental set-up was developed to test and verify the effects of the caudal fin stiffness on its hydrodynamic forces under different caudal fin actuation frequency and amplitude. Findings - The results of this paper demonstrate that BUR with multi-flexible caudal fins combines the hydrodynamic characteristics of undulation and jet propulsion modes. In addition, the caudal fin with medium stiffness can generate larger thrust force and reduce the reactive power. Practical implications - This paper implies that robotic fish can be equipped with both undulation and jet propulsion modes to optimize the swimming performance in the future. Originality/value - This paper provides a BUR with multi-propulsion modes, which has the merits of high propulsion efficiency, high acceleration performance and overcome the head shaken problem effectively.

关键词： Marine robotics   Field applications   Future trends  

摘要： Spawned by fast paced progress in marine science and technology, the past two decades have witnessed growing interest in ocean exploration and exploitation for scientific and commercial purposes, the development of technological products for the maritime and offshore industries, and a host of other activities in which the marine environment takes center stage. In this context, marine robotics has steadily emerged as a key enabling technology for the execution of increasingly complex and challenging missions at sea. Intensive research and development in this field have led to major advances and shown unequivocally the effectiveness and reliability of marine robotics solutions in several domains. This progress goes hand in hand with the availability of increasingly sophisticated acoustic networks for multiple, cooperative missions involving surface and underwater robots. At the root of this trend is the fruitful dialogue between robotic systems developers and end-users with the capacity to convert general mission objectives into functional and technical specifications that serve as application-driven requirements for engineering development. The result is the tremendous progress observed in the consolidated methodologies and procedures adopted and the consequent impact on science, industry, and the society at large. In spite of the progress in the area, however many challenges must still be faced and novel applications will continue to set further requirements for future generations of marine robots and their enabling systems. The time is therefore appropriate to overview recent trends in the field of marine robotics and assess their impact on several important application domains. With these objectives in mind, in the present paper we highlight key technological achievements in the field, analyze some of the shortcomings encountered, and indicate specific issues that warrant further research and development effort. To this end, we review a number of highly representa

关键词： 机器人竞赛   现状   问题  

摘要： 中小学机器人竞赛极大地丰富了信息技术教育内涵,其挑战性、操作性、创新性及其团队合作等特定,符合中小学生的价值需求.本文对该项活动在辽宁省开展对近四年情况进行梳理与分析,阐述该项活动开展的具体情况及重要价值,并提出对进一步将中小学电脑制作活动引向深入的对策措施.

关键词： 气动力估算模型   动力学模型   仿鸟腿式步行机构   能效性分析  

摘要： 经过大自然长时间筛选与进化,鸟类获得了优秀的飞行能力。小型扑翼飞行机器人继承了这种能力,其飞行模式多种多样并可自由切换,飞行机动性极强且气动效率高,具有传统飞行平台不具备的多种优点。因此小型仿生扑翼飞行机器人的研究工作具有极其重要的意义。本文首先简单综述了国内外扑翼飞行机器人的研究发展现状,重点从机械工程学科角度出发,阐述并分析了扑翼飞行机器人设计中涉及到的技术重点与难点。在此基础上对小型扑翼飞行机器人的未来技术发展方向进行了思考,做出展望。作为完整的仿生机器人,期望实现飞行与步行两种运动模式,于是研究了仿鸟腿式步行机构,提出了一种轨迹生成机构与位移放大机构组合的仿鸟腿式步行机构并进行了机构尺寸综合。利用优化设计的方法求解了与给定理想轨迹匹配程度最高的机构设计参数。通过ADAMS动力学仿真,证明了该机构可有效地在平缓地面上快速行走。其后分析了扑翼结构与其产生气动力的机理。根据二维稳态流体力学仿真得到的多种翼型升/阻力系数数据,运用条带理论求解了局部稳态气动力,然后积分局部气动力求解出了机扑翼整体气动力。建立了扑翼运动与气动力产生的实时关系。为后续扑动机构动力学分析、飞行器稳定性控制做好了准备。之后针对一种扑动机构,在构建扑动机构的运动学、动力学模型的基础上,分析了关节刚度与力矩波动程度的关系,进一步分析了力矩波动、电动机平均驱动功率、有效功率与总功率比值三者关系,证明了弹性元件可有效提高机构的能效性。最后根据鸟类结构与仿生统计规律制作了实验样机的零部件,完成了实验样机的组装与初步测试。评价了 3D打印工艺在样机制作中的效果。

关键词： 机器人   机电工程学院   河南省  

摘要： 2018年6月2日～3日,"第五届河南省大学生机器人竞赛"在河南广播电视大学(郑州信息科技职业学院)开赛,我校机电工程学院代表队在"武术擂台赛机甲对决"项目中夺冠,再创我校在该项赛事成绩的新记录。本次大赛由河南省科学技术协会、河南省教育厅、河南省科学技术厅联

关键词： 工业机器人   动力学前馈控制   自抗扰控制   动力学参数辨识   摩擦建模   反馈信号品质  

摘要： 智能化、集成化、高性能运动是工业机器人发展的主要趋势。其中,高性能运动是机器人加工质量和工作效率的重要基础,要求控制器具有高的动态响应和高的鲁棒性。常规闭环控制器虽结构简单、易于实现,但通常针对线性定常系统,而机器人系统具有非线性、强耦合时变特性,尤其是高速运动时,关节力矩耦合强烈,惯性变化较大,非线性效应显著。采用常规控制方法,易产生较大控制偏差,其保守的控制参数限制了系统增益带宽,影响系统动态特性,导致大的迟滞误差,且大的惯量变化可能引起系统振荡,破坏系统稳定性。对此,本文进行基于动力学的机器人高性能运动控制技术研究。主要内容如下:对6R工业机器人进行动力学建模分析,根据其非线性、强耦合时变特性,采用动力学前馈控制总体结构,通过与常规闭环反馈控制结构对比仿真,表明动力学前馈控制能有效改善机器人动态性能和运动精度。由于实际工作中机器人的精确模型参数难以获取,且工作过程存在不确定性扰动,为提高控制的鲁棒性,结合自抗扰控制(Active Disturbance Rejection Control,ADRC)结构简单、抗扰能力强、且不拘于受控模型等特点,提出基于动力学前馈的自抗扰控制策略,并针对机器人多关节耦合问题,通过动力学特性进行控制解耦;继而,研究了基于动力学前馈的ADRC串级控制结构与算法。结果表明,基于动力学前馈的ADRC控制器对不确定性扰动具有良好鲁棒性。精确的动力学控制要求精确的动力学模型参数。为提高动力学模型参数获取精度,针对常规参数辨识方法过程复杂、累积误差大、受负载影响大等问题,基于最小惯性参数模型,从以下方面进行参数辨识研究:在辨识策略方面,提出“高位统一,低位逐一”辨识策略,改善统一辨识时多关节耦合干扰问题和逐一辨识时误差逐级传递问题;在负载惯性参数辨识方面,提出“空载与带载力矩差值辨识策略”,将空载状态下的关节实测力矩信息,替换相同轨迹下带载本体动力学预测模型,通过差值重构负载的动力学参数辨识模型,避免了对本体惯性参数的重复调用和误差引入以及动力学在线计算,从而提高了辨识精度和效率;在估算方法方面,将加权最小二乘法和遗传算法有效结合,提高参数估计精度。为降低摩擦力不确定性对动力学模型精度的影响,提高运动控制性能,针对常规摩擦模型存在差异性和拟合不充分问题,即难以用统一形式充分拟合实际实验特征,提出一种基于遗传算法优化的BP神经网络摩擦模型,相比而言,具有更高的拟合精度。此外,减少控制器采样噪声,提高反馈信号品质,是改善闭环系统动态特性,实现高性能运动控制的基础。针对常规微分跟踪器稳定性差、输出振颤、形式复杂等问题,提出一种稳定性高、收敛快的非线性微分跟踪器,具有信号跟踪准确、响应快、过渡平稳等优点,对信号的导数估计具有良好逼近与滤波效果。基于上述研究,根据机器人控制系统总体结构,研制了运动控制实验平台,设计了运动控制软件结构,实现机器人运动控制、动力学参数辨识等基本功能;并开展了动力学参数辨识和空间轨迹跟踪等实验研究。结果表明,本文提出的基于动力学前馈的ADRC控制器能有效提高机器人的跟踪精度、动态响应和鲁棒性。

摘要： 5月4日,由宜春市教育局电化教育与信息中心主办的WER2018中小学智能机器人竞赛市级选拔赛在宜春中学体育馆举行.宜春各县市区共有360余支队伍参加了县级选拔赛,经过激烈角逐,由125名中小学生组成的62支队伍晋级本次市级选拔赛.

关键词： Robot control   Robotics   Automation  

摘要： The Agile Robotics for Industrial Automation Competition (ARIAC) is an annual simulation-based competition initiated in 2017. The competition challenges teams to design industrial robotic system control code to function in a dynamic environment. Each team's system is faced with challenges such as dropped parts, which it must address, without operator intervention, while continuing to function.