关键词： 动力学   空间机器人   单边接触   互补问题  

摘要： 针对弹簧?阻尼(spring-damp,SD)并联模型描述机器人接触作业时需要耗时调节刚度、阻尼系数,并在接触末端额外安装力传感器等缺陷,基于互补问题,描述空间机械臂末端与目标的单边接触,推导具有紧凑数学形式的空间机器人接触动力学模型。采用Lemke算法设计动力学模型的数值计算方法,并通过数学仿真验证动力学模型的有效性。

关键词： 工业机器人   运动学   动力学   拉格朗日  

摘要： 以六自由度工业机器人为研究对象,利用D-H法对该机器人的运动学进行分析,并推导出运动学方程;运用拉格朗日建立出机器人动力学方程,并采用Matlab进行了运动学与动力学仿真,为后续六自由度工业机器人动态特性及控制研究打下基础。

关键词： Energy utilization  

摘要： This paper investigates the variations of bipedal robot's dynamic property walking on compliant ground based on rigid-compliant coupling model. Firstly, the coupling dynamic rod model between a rigid bipedal robot and compliant ground is established. Next, the robot's off-line gait on rigid ground is planned based on ZMP (zero moment point) criterion. Then, the compliant ground model is built in ANSYS for modeling the coupling virtual prototype between robot and ground in ADAMS. Finally, simulations are performed to reveal the effect of ground compliance on bipedal robot's dynamic property. The simulation results indicate that: 1) as the ground compliance decreases, the displacement of COM (center of mass) along axis X decreases by 2.69%. 2) the left sole and right sole impact forces increase by 28.46% and 24.33%, respectively, while the average contact forces decrease by 11.71% and 9.69%. 3) the average torques of left ankle joint and right ankle joint decrease by 13.24% and 14.16%. Compared with rigid ground, if the bipedal robot walks on ground with higher compliance, the step length of robot should be decreased to obtain the equivalent result. In the meantime, the driving motor with grater output torque will be chosen, which might lead to more energy consumption. © 2016, Chinese Mechanical Engineering Society. All right reserved.

关键词： 灭火机器人   智能优化   传感器   控制算法  

摘要： 灭火机器人比赛场地中顺利完成灭火任务,需要依靠一套稳定、完善的搜寻火焰并有效熄灭火焰的路径。该机器人采用C51单片机为主控芯片,结合使用步进电机和火焰传感器来判断火源位置,利用超声波测距传感器与直流电机完成机器人的行走和自动避障等功能。在控制算法上,采用"左右手定则"和无火不入房的策略,提高了寻找火源的效率。实际应用表明,该机器人具有开放性好,快速、准确灭火的良好性能。

关键词： 假设模态法   有限元法   Bezier插值方法   B样条插值方法   柔性机器人  

摘要： 研究了基于变形场不同离散方法的柔性机器人动力学建模和仿真问题.针对多杆空间链式柔性机器人系统,采用假设模态法、有限元法、Bezier插值方法和B样条插值方法对柔性杆变形场进行描述,构造统一形式,运用Lagrange方法,结合4×4齐次变换矩阵,在计入柔性杆横向弯曲变形引起的纵向缩短的情况下,推导得到多杆空间柔性机器人动力学方程,并编制基于4种变形场不同离散方法的多杆空间链式柔性机器人仿真软件.通过仿真算例对柔性机器人系统的动力学问题进行研究.仿真结果表明:有限元法的计算效率较低;假设模态法在处理较大变形问题时其精度低于Bezier插值方法和B样条插值方法的精度;作为新的变形体离散方法,Bezier插值方法和B样条插值方法可以有效地描述柔性杆的变形场,并能运用到多杆空间柔性机器人动力学建模中.

关键词： Dementia   Alzheimer's disease   Robotics   Ethics   Informed consent   Recommendations  

摘要： The steadily growing number of older adults with dementia worldwide poses a major challenge for global public health. The integration of robotics into both formal and informal dementia care opens up new possibilities for improving the life of patients and alleviating the burden on caregivers and the healthcare services. However, ethical, legal and social implications should be considered early in the development of assistive and social robots for dementia to prevent slow adoption, incorrect implementation and inappropriate use. This paper delineates the ethical landscape and provides recommendations for design and use aimed at protecting users and maximizing the benefit in assisting such vulnerable population.

关键词： animal welfare   artificial intelligence   consciousness   insect   Morgan's canon   nociception   pain   precautionary principle  

摘要： Insects are common model organisms for studies in animal behaviour, genetics, molecular biology and other fields. They are also the focus of pesticide research, a subspecialty devoted to devising chemicals capable of killing them. These studies would raise animal welfare concerns, if insects were thought capable of suffering (i.e. experiencing pain). Four disparate areas of research touch on the question of whether insects feel pain: (1) philosophy, (2) insect neurobiology and behaviour, (3) artificial intelligence and robotics and (4) evolution. Using the perspectives provided by these fields, I assess what we know about whether insects feel pain. (C) 2016 The Association for the Study of Animal Behaviour. Published by Elsevier Ltd. All rights reserved.

关键词： robotic surgery   surgical oncology   the business of surgery  

摘要： Background. Robotic-assisted surgery has potential benefits over laparoscopy yet little has been published on the integration of this platform into complex surgical oncology. We describe the outcomes associated with integration of robotics into a large surgical oncology program, focusing on metrics of safety and efficiency. Methods. A retrospective review of a prospectively maintained database of robotic procedures from July 2009 to October 2014 identifying trends in volume, operative time, complications, conversion to open, and 90-day mortality. Results. Fourteen surgeons performed 1236 cases during the study period: thyroid (246), pancreas/duodenum (458), liver (157), stomach (56), colorectal (129), adrenal (38), cholecystectomy (102), and other (48). There were 38 conversions to open (3.1%), 230 complications (18.6%), and 13 mortalities (1.1%). From 2009 to 2014, operative volume increased (7 cases/month vs 24 cases/month;P < .001) and procedure time decreased (471 +/- 166 vs 211 +/- 140 minutes;P < .001) with statistically significant decreases for all years except 2014 when volume and time plateaued. Conversion to open decreased (12.1% vs 1.7%;P = .009) and complications decreased (48.5% vs 12.3%;P < .001) despite increasing complexity of cases performed. There were 13 deaths within 90 days (5/13 30-day mortality) and 2 (15.4%) were from palliative surgeries. Conclusions. Implementation of a diverse robotic surgical oncology program utilizing multiple surgeons is safe and feasible. As operative volume increased, operative time, complications, and conversions to open decreased and plateaued at approximately 3 years. No unanticipated adverse events attributable to the introduction of this platform were observed.