关键词： 机械臂   履带移动机器人   统一动力学方程   Recurdyn  

摘要： 针对履带式移动机器人的研究主要集中在履带式行走机构和不考虑车体在其他装置影响下,履带移动机器人的运动性能。以搭载6自由度机械臂的履带式移动机器人为研究对象,分别推出机械臂、履带移动平台的运动学方程和包含机械臂的整车统一动力学方程,并运用多体动力学软件Recur Dyn构建动力学模型。通过模型,分析了机械臂与履带移动平台在动态交互影响下,整车的行驶特性,得到了整车在不同预紧力、不同路面下的运动性能。结果表明,在机械臂动态影响下履带移动机器人的预紧力为8KN最为合适,且其在黏土上的各项行驶性能均优于干砂。

关键词： 机器人比赛   竞赛   国际   互联网  

摘要： 机器人竞赛，对于很多人来说既陌生又熟悉．熟悉的是最近几年经常会在各种媒体，包括互联网上，看到各种机器人比赛的消息．但是陌生的是，到底机器人比赛比什么．

关键词： 机器人   竞赛活动   创新实践  

摘要： 机器人竞赛活动是学校开展素质教育、提高学生创新能力和实践能力的良好载体。目前,机器人竞赛在教育主管部门的大力推动下,在中小学如火如荼地开展。但是,对于很多学校和学校的竞赛教练来说,如何有效开展机器人活动确实存在一定困难。合肥市第一中学机器人活动蓬勃开展,是安徽省机器人活动开展最早、取得诸多机器人竞赛大奖的学校。合肥市第一中学机器人竞赛活动的开展,为在高中阶段有效开展机器人竞赛活动提供了范例。

关键词： 双臂移动机器人   多体系统传递矩阵法   动力学建模  

摘要： 本文基于多体系统离散时间传递矩阵法,首先构建了双臂移动机器人的车体以及机械臂各杆件的刚体模型,推导出各元件所对应的传递矩阵;然后进一步得出了双臂移动机器人分叉链式多体系统的统一整体动力学方程,综合研究了机器人内部各元件之间的运动学及动力学的关系;最后采用MATLAB软件对动力学方程进行数值仿真.通过对仿真结果的分析,不仅验证了理论的正确性,也得到了各个关节的力矩的大小及变化规律,便于驱动电机的选型,同时为后续的控制系统设计提供了重要的理论依据.

关键词： 机器人竞赛   学术动态   最后一天   周琪   中国科学院   十年   吉林省吉林市   副校长   机器人大赛   科学技术应用  

摘要： 2016年7月27日,是程勃雯在中国科学院大学(简称国科大)参加中国青少年机器人竞赛的最后一天了。在坐上返程的列车前,他做梦也没有想到,居然会与自己的偶像定下一个'十年之约'。程勃雯现在是吉林省吉林市第一中学高一年级学生。自从第一次在电视上看见他的偶像,就去拜读他的学术成果并持续关注他的学术动态。用他的话说,这个人是他的'精神偶像和学习动力'。这个神秘的人物,就是国科大副校长。

关键词： Path planning   MOVNS   Multi-objective optimization   Robotics   Realistic maps   Energy consumption  

摘要： Mobile robots must calculate the appropriate navigation path before starting to move to its destination. This calculation is known as the Path Planning (PP) problem. The PP problem is one of the most researched topics in mobile robotics. Taking into account that the PP problem is an NP-hard problem, Multi Objective Evolutionary Algorithms (MOEAs) are good candidates to solve this problem. In this work, a new multi-objective evolutionary approach based on the Variable Neighborhood Search (MOVNS) is proposed to solve the PP problem. To the best of our knowledge, this is the first time that MOVNS is proposed to solve the path planning of mobile robots. The proposed MOVNS handles three different objectives in order to obtain accurate and efficient paths. These objectives are: the path safety, the path length, and the path smoothness (related to the energy consumption). Furthermore, in order to test the proposed MOEA, we have used eight realistic scenarios for the paths calculation. On the other hand, we also compared our proposal with other approaches of the state of the art, showing the advantages of MOVNS. In particular, in order to evaluate the obtained results we applied different quality metrics. Moreover, to demonstrate the statistical robustness of the obtained results we also performed a statistical analysis. Finally, the study shows that the proposed MOVNS is a good alternative to solve the PP problem, producing good paths with less length, more safety, and more smooth movements. We think this is an important contribution to the mobile robotics, and therefore, to the field of expert and intelligent systems. (C) 2016 Elsevier Ltd. All rights reserved.

关键词： 机器人技术   交流电力   学术会议   济南   国际   智能技术   山东省  

摘要： 10月11日。由国网山东省电力公司主办，国网山东电科院、鲁能智能技术有限公司承办的第四届国际电力机器人学术会议（CARPI）在济南隆重召开。会议的主要目的是交流电力机器人技术发展最新成果，研讨未来发展方向，促进各方深入交流合作。

关键词： 机器人竞赛   单片机   智能机器人  

摘要： 机器人竞赛是一项高水平,高技术的对抗性比赛,其涉及到多个领域学科知识的综合应用。在各类机器人竞赛中,对应用了多门学科,业已成为典型机电一体化产品的"智能机器人"的要求正在逐步提高。文章将着眼于各类机器人竞赛的要求,基于现今较为常用的单片机控制技术,设计一种新型的单片机编程训练开发平台,为参加各类机器人大赛的选手提供一种简单、可靠、稳定、实用的智能机器人操作训练工具。

关键词： 工业机器人   刚柔耦合   高速重载   动力学   ADAMS  

摘要： 为了使高速、重载下工业机器人运动的仿真结果更接近工程实际,以假设模态法为理论基础,采用ADAMS和ANSYS软件联合仿真,将关键的受力部件进行柔性化,建立了刚柔耦合的仿真模型,对相同负载、不同工作速度条件下和相同工作速度、不同负载条件下各关节所受力矩随时间的变化情况进行了分析,可得同样在增大4倍的情况下,末端负载的变化比工作速度的变化对关节所受力矩影响更明显,为机器人在高速、重载工况下工作时关节处电机的选取提供了依据。

关键词： duplex system   ectopic ureters   minimally invasive surgery   pediatrics   robotics   ureteroureterostomy  

摘要： Introduction: Robotic technology has been increasingly utilized for complicated reconstructive surgeries in pediatric urology, such as ureteroureterostomy (UU). The literature is limited regarding the performance of minimally invasive UU in children, and the existing published series utilize indwelling ureteral stents. We sought to report on our pediatric experience with robot-assisted laparoscopic (RAL)-UU using a temporary ureteral catheter in duplex systems with ureteral ectopia. Methods: A retrospective chart review was performed of all pediatric patients who underwent RAL-UU at a single institution over a 2-year period. An externalized ureteral catheter was kept overnight and removed with the indwelling catheter on postoperative day 1. Intraoperative as well as postoperative complications, length of stay (LOS), and analgesia were recorded. Follow-up renal ultrasound (US) and evaluation for symptom resolution were completed 3 months postoperatively. Results: Twelve patients (four male, eight female) underwent RAL-UU at a mean age of 19.4 months (range 9-48 months) during the study period. The majority of patients (83.3%) presented with hydronephrosis, and all were found to have duplicated systems with ureteral ectopia. No child had ipsilateral vesicoureteral reflux. Two children had bilateral duplicated systems, one of which required bilateral surgery. Median operative time was 138 minutes (IQR 119-180 minutes), and mean estimated blood loss was 1.5mL. There were no intraoperative complications, and no case required open conversion. Median hospital LOS was 31 hours (IQR 30-39 hours). Median follow-up time was 11 months (range 3-22 months). One patient developed a postoperative febrile upper respiratory infection. All patients had improved hydroureteronephrosis on US at 3 months postoperatively. One patient with preoperative urinary incontinence was dry postoperatively. Therefore, the overall success rate was 100%. Conclusion: Our institutional results demonstrat