关键词： 机器人   模型   计算机仿真   对靶施药   药液覆盖区  

摘要： 为提高除草剂的有效利用率、降低环境污染,该文研制了一种靶向灭草机器人,建立机器人的药液喷洒动力学模型是提高对靶施药精度的关键。在综合考虑多种影响因素前提下,采用空气动力学原理建立了液滴在喷洒过程中的动力学模型,并推导出液滴的落地点公式;在此基础上通过计算机数值模拟得出了液滴群的落地覆盖区域,同时分析了液滴阻力特性及各工作参数对运动过程的影响;在室内无风条件下,应用高速摄像技术进行了喷洒试验,将液滴群的实际落地覆盖区域与理论覆盖区域比对,相对误差为8%~13%,同时采用吸水纸称质量法分析了药液有效覆盖区域的沉积量分布特性。研究结果表明:借由药液喷洒动力学模型得出的理论药液覆盖区域与试验结果具有一定的吻合性,验证了模型的适用性。该研究可为搭建相关靶向喷洒系统提供参考。

关键词： 人形机器人   踝关节机构   动力学分析   球面并联机构  

摘要： 提出了一种新型PURU+RR+S球面并联人形机器人踝关节机构,根据机构的几何约束关系和速度合成定理,建立包括各个构件位姿、速度的机构运动学模型。在此基础上,考虑各构件惯性力的影响,基于虚功原理和拉格朗日方程,建立了机构动力学模型。通过实验测量,得到一组人体踝关节的运动学数据,利用傅里叶公式进行拟合,得到人体踝关节的位姿函数。将此位姿函数分别作为理论模型、踝关节虚拟样机的输出,得到踝关节机构输入的数值解、仿真数据,验证了运动学和动力学模型的正确性。研究结果为该人形机器人踝关节机构在工程中的结构设计与应用提供了动力学理论基础和依据。

关键词： 智能科学与技术   创新教育   机器人学   课程改革  

摘要： 通过对机器人课程的定位、调研和分析,阐述智能科学与技术专业的机器人课程建设的现状,分析目前教学存在的问题,并给出课程建设的创新教育改革的思路与途径。

关键词： 机器人   竞赛试题   战略分析  

摘要： 本文将2017年"中国机器人大赛暨RoboCup公开赛"安徽省赛赛题与前几年赛题进行比较,从总体上分析了赛题变化情况和出题趋势,并针对每类赛题指出其变化细节,总结每类赛题特点和考查知识点,在此基础上,对各类高校如何选择参赛试题和如何更好完成该类赛题提出具体可行性建议。

关键词： 智能机器人   智能机器人   智能机器人  

ISBN: (纸本)9787121320514

摘要： 本书以教娱机器人的制作应用和竞赛机器人的制作竞赛为目标, 结合硬件模块和软件编程, 循序渐进地讲解每个模块所需专业知识和技术, 然后将这些知识和技术应用到产品制作和开发中。

关键词： Soft robotics   Locomotion   Newton-Euler dynamics   MAVs   Fish-like robots  

摘要： In animal locomotion, either in fish or flying insects, the use of flexible terminal organs or appendages greatly improves the performance of locomotion (thrust and lift). In this article, we propose a general unified framework for modeling and simulating the (bio-inspired) locomotion of robots using soft organs. The proposed approach is based on the model of Mobile Multibody Systems (MMS). The distributed flexibilities are modeled according to two major approaches: the Floating Frame Approach (FFA) and the Geometrically Exact Approach (GEA). Encompassing these two approaches in the Newton-Euler modeling formalism of robotics, this article proposes a unique modeling framework suited to the fast numerical integration of the dynamics of a MMS in both the FFA and the GEA. This general framework is applied on two illustrative examples drawn from bio-inspired locomotion: the passive swimming in von Karman Vortex Street, and the hovering flight with flexible flapping wings.

关键词： Tethered Space Robot   dynamics modeling   dynamics analysis   model selection   offsets  

摘要： This work proposes a scheme to select a proper dynamics model for space debris removal which is captured by a Tethered Space Robot. A proper dynamics model is crucial for the parameters estimation and controller design in a Tethered Space Robot mission, in particular, for the retrieval or de-orbiting of uncooperative target. A new dynamics model of the system is derived by treating the base satellite and the space debris as rigid bodies in the presence of offsets, and with the effect of the tether's flexibility and elasticity. Then the equations of motion are simplified based on the attitude analysis and numerical simulations in different cases. It is concluded that in the Tethered Space Robot's mission, the strong coupled attitude motions among the base, target satellites, and the tether cannot be ignored during the retrieval, which is totally different from the traditional tethered satellite system. The attitude motions of the system in different conditions are discussed respectively, and a method of the model selection of the system during post-capture and retrieval/de-orbiting phase is proposed, which is a balance of the accuracy and facility. Finally, a control scheme is used to prove this conclusion.

关键词： *INTEGRATED circuits   *TESTING   *ROBOTICS   DETECTORS  

摘要： An interview of Robert Little, chief executive officer (CEO) at ATI Industrial Automation, is presented. Little mentions consideration of the firm for adoption of sensing approaches among robots with proliferation of force/torque sensor products. He states enhancement in electronics assembly conditions with insertion of chips onto circuit boards along with usage of robots in testing. Little discusses significance of robotic technology for an improvement in manufacturing services.