关键词： 圆锥杆   轮式   侧倾   打滑   弹簧刚度范围  

摘要： 为实现目前路灯杆的清洗及喷漆工作,在已有爬等直径杆机器人基础上,基于可在圆锥杆上爬行的轮式机器人结构,进行了理论分析计算;将得到的结果导入ADAMS中进行仿真,对上升过程中的侧倾现象进行分析,发现弹簧刚度不够是主要原因;针对弹簧力和杆直径变化关系,重新计算了弹簧刚度,得到了平稳的上升过程;针对弹簧刚度过大出现打滑的现象,最终得到了适合此类结构同样重量机器人的弹簧刚度范围。通过仿真可知,采用上升过程确定的主要参数,机器人下降过程同样稳定。

关键词： 采摘机械手   联合仿真   运动分析   ADAMS   UG  

摘要： 为了提高采摘机器人机械手设计的速度,缩短开发周期和时间,并提高设计的准确性,采用UG和ADAMS软件联合仿真的方法 ,对采摘机器人进行了设计优化。首先利用UG软件对六自由度的采摘机械手进行了三维实体建模,然后采用UG和ADAMS的兼容性接口将模型导入到了ADAMS软件中,根据实际设计需求添加了约束,最后对机械手进行了动力学仿真。通过仿真计算,得到了机械手各关节的位移-时间曲线和力学分析曲线,通过观察结构的运动轨迹和受力情况,可以对初始设计阶段的机械手进行优化设计,从而提高了设计的效率。

关键词： 动力学建模   过约束   旋量键合图   并联机构   多能域  

摘要： 采用旋量键合图建立球面2-DOF过约束并联机器人机电两种能量并存系统动力学模型,该方法相对传统力学原理动力学建模方法的优点是建模过程规则化,能够得到适合于现代控制理论的空间并联机构状态方程。所建动力学模型只有36个方程,但由于被动过约束(公共约束和冗余约束)和主动过约束(冗余驱动)的存在,共有43个未知量需要求解。为此,针对被动过约束问题,分析三个分支变形引起末端相对于球心O的位移量,增加了6个变形协调补充方程;针对主动过约束问题,提出了采用输入力优化的方法,增加了1个补充方程,最终得到了该机器人完整的多能域系统动力学全解模型。通过数值算例,验证了该方法的可行性和合理性。该方法可以推广到其他包含机、电、液、气的多能域过约束并联机器人系统,为该类多能域机器人系统动力学建模分析提供了一种新的思路。

关键词： International(headers)   Automation   robotics   mining  

关键词： Robotics   hybrid robot manipulator   kinematics   dynamics   control system  

摘要： Hybrid robotic application is a continuously developing field, as hybrid robot manipulators have demonstrated clearly to possess benefits of both serial structures and parallel mechanisms. In this article, the physical prototype and the specially designed control system for a new 5-degree-of-freedom hybrid robot manipulator are developed. The mechanical structure, kinematics, dynamics, and control system of this robot manipulator are presented. A newly appropriate set of closed-form solutions, which can avoid multiple solutions, is proposed to address the inverse kinematics problem of this robot manipulator. Additionally, simulations of the kinematics and dynamics of this robot manipulator and the tests for the repeatability and accuracy of both the position and path are first simulated with two numerical examples and then conducted on the physical prototype.

关键词： Damages   Responsibility   Legal status   Electronic personhood   Normative concepts  

摘要： The recent development of robotics poses new challenges for the legislature as well as for jurisprudence. Especially, the ascription of responsibility to a specific individual becomes more difficult when confronted with an autonomous, learning and decision-making robot. A discussion about how to solve the problems of the wronged party having to prove the cause of the damage and the person responsible for it has to take place. One possible solution could be to ascribe a specific legal status to autonomous machines, similar to the status of legal persons (corporations). Discussing responsibility in this context should also include the question of the consequences of us intentionally handing over decision-making onto machines. This transfer as well as the development of robotics as such will have repercussions on the normative concepts our society is based upon. The space for these changes has to be created consciously.

关键词： ROBOTICS   AUTOMATION   PACKAGING   CONSUMERS   SUPPLY chains  

摘要： The article focuses on robotics and smart automation solutions that innovate and improve processes in packaging products and improve how products are handled during transport and across the supply chain. Topics include technology that makes improvements in mechanical packaging processes. Technology that makes improvements in how products are transported and delivered to the consumer is also mentioned.

关键词： Housing  

摘要： A model of a mobile capsule robot that consists of the housing and internal body is considered. The internal body can move relative to the housing along a straight line. The internal body is attached to the housing by a spring. The system motion is excited by a force that acts between the housing and the internal body. The force changes in a pulse-width periodic mode. The robot's motion along a straight line on a rough horizontal plane is investigated. It is assumed that the dry Coulomb friction acts between the housing and the plane. The dependence of the average steady state robot velocity on excitation parameters is analyzed. It is established that it is possible to control the magnitude and direction of the robot motion by changing the period and the duty cycle of the pulse-width excitation signal. The effect of the variation in the direction of the robot motion due to changing the excitation period is observed. This effect is associated with the phenomenon of resonance.

关键词： Human-robot-interaction   Real world   Museum guide robot   Co-orientation   Mathematization   Interactional system   Social construction of technology  

摘要： Given the widespread goal of endowing robotic systems with interactional capabilities that would allow users to deal with them intuitively by using means of natural communication, the text addresses the question to which extent it would be possible to mathematize (aspects of) social interaction. Using the example of a robotic museum guide in a real-world scenario, central challenges in dealing with the situatedness and contingency of human communicational conduct are shown using fine-grained video analysis combining the robot's internal perspective with the user's view. On a conceptual level, the text argues to consider human and robot as one 'interactional system' that jointly solves a practical (communicational) task. This opens up the perspective to integrate the human's interactional competences and adaptability in the design and modeling of interactional building blocks for HRI. If we provide the technical system with systematic resources to make use of the human's competences, the limits of mathematization might gain an interesting twist. Through careful design of the robot's conduct, a powerful resource exists for the robot to proactively influence the users' expectations about relevant subsequent actions, so that the robot could contribute to establishing the conditions which would be most beneficial to its own functioning.

关键词： Computer navigation   Robotics   Unicompartmental knee arthroplasty   Total knee arthroplasty   Soft tissue balancing  

摘要： Recently, there is a growing interest in surgical variables that are intraoperatively controlled by orthopaedic surgeons, including lower leg alignment, component positioning and soft tissues balancing. Since more tight control over these factors is associated with improved outcomes of unicompartmental knee arthroplasty and total knee arthroplasty (TKA), several computer navigation and robotic-assisted systems have been developed. Although mechanical axis accuracy and component positioning have been shown to improve with computer navigation, no superiority in functional outcomes has yet been shown. This could be explained by the fact that many differences exist between the number and type of surgical variables these systems control. Most systems control lower leg alignment and component positioning, while some in addition control soft tissue balancing. Finally, robotic-assisted systems have the additional advantage of improving surgical precision. A systematic search in PubMed, Embase and Cochrane Library resulted in 40 comparative studies and three registries on computer navigation reporting outcomes of 474,197 patients, and 21 basic science and clinical studies on robotic-assisted knee arthroplasty. Twenty-eight of these comparative computer navigation studies reported Knee Society Total scores in 3504 patients. Stratifying by type of surgical variables, no significant differences were noted in outcomes between surgery with computer-navigated TKA controlling for alignment and component positioning versus conventional TKA (p = 0.63). However, significantly better outcomes were noted following computer-navigated TKA that also controlled for soft tissue balancing versus conventional TKA (mean difference 4.84, 95 % Confidence Interval 1.61, 8.07, p = 0.003). A literature review of robotic systems showed that these systems can, similarly to computer navigation, reliably improve lower leg alignment, component positioning and soft tissues balancing. Furthermore, two stud