关键词： MEETINGS   *ROBOT industry   *MANUFACTURING industries   *CHIEF executive officers   CONGRESSES  

摘要： Information about the Roboforum annual international robotics conference associated with the Robostation summer exhibition that was held at VDNKh national exhibition centre in Moscow, Russia. Topics include the development of robotics worldwide, awareness of government and manufacturing industry and major changes in educational system. The conference featured speaker Manfred Eibeck, chief executive officer (CEO) of robotic company Russian Machines Corp.

关键词： ROBOTICS   RESEARCH & development   GREAT Britain  

摘要： The article discusses the launch of the UK Robotics and Autonomous Systems Network (UK-RAS Network) funded by the Engineering and Physical Sciences Research Council (EPSRC) to boost the robotics research and development (R&D) activities in Great Britain.

关键词： Fish Robot   Tuna-mimetic Robot   UC-Ika 1   Undulation Mechanism   Swimming Forces   Mathematical Model  

摘要： This paper presents the steps for the mathematical modelling of a fish robot with four degrees of freedom (DOF) called UC-Ika 1. The swimming motion of the robot, which is inspired by tuna fish, needs to generate an undulatory motion by its tail peduncle and caudal fin. Hence, the robot has the benefit of a tail mechanism that plays a determining role in the dynamic behaviour of the robot. Analysing this tail mechanism and the hydrodynamic forces acting upon the fish robot, the governing equations of motion of the robot are derived. Solving these dynamic equations reveals that the robot has a cruising speed of 0.29 m/s, a slight oscillation in the gamma direction, and a small swing around its centre of mass. These results are validated by the experimental results of UC-Ika 1.

关键词： hyper-redundant manipulators   variational calculus   Lie group   continuum model   biological macromolecule  

摘要： Hyper-redundant (or snakelike) manipulators have many more degrees of freedom than required to position and orient an object in space. They have been employed in a variety of applications ranging from search-and-rescue to minimally invasive surgical procedures, and recently they even have been proposed as solutions to problems in maintaining civil infrastructure and the repair of satellites. The kinematic and dynamic properties of snakelike robots are captured naturally using a continuum backbone curve equipped with a naturally evolving set of reference frames, stiffness properties, and mass density. When the snakelike robot has a continuum architecture, the backbone curve corresponds with the physical device itself. Interestingly, these same modeling ideas can be used to describe conformational shapes of DNA molecules and filamentous protein structures in solution and in cells. This paper reviews several classes of snakelike robots: (1) hyper-redundant manipulators guided by backbone curves;(2) flexible steerable needles;and (3) concentric tube continuum robots. It is then shown how the same mathematical modeling methods used in these robotics contexts can be used to model molecules such as DNA. All of these problems are treated in the context of a common mathematical framework based on the differential geometry of curves, continuum mechanics, and variational calculus. Both coordinate-dependent Euler-Lagrange formulations and coordinate-free Euler-Poincare approaches are reviewed.

关键词： 水下爬壁机器人   UG   ADAMS   动力学分析  

摘要： 设计了一种新型的用于水下环境观察、设备检测以及维护的水下吸附式爬壁机器人,利用UG建立其吸附装置、移动机构、传动系统,机械本体、照明装置等的三维模型,并装配成水下爬壁机器人的虚拟样机模型,然后通过UG和ADAMS的接口将其导入到ADAMS软件中,利用ADAMS对其进行动力学分析,通过取不同的吸附力,然后分析机器人的移动速度,最后得出使机器人既不滑落又节能的合适的吸附力。

关键词： 红外传感器   火焰传感器   大家好   迷宫式   避障   中央处理器   analog   屏幕显示   红外光波   程序处理  

摘要： 淀粉们,大家好。前面我们一起了解了红外传感器的知识,知道了被动式红外传感器和主动式红外传感器,今天我们就一起来看一看它们在机器人灭火竞赛中部有哪些应用。红外传感器在很多时候都在充当机器人的＂眼睛＂——寻找目标、躲避障碍。说到这里,淀粉们肯定想到了非常经典的灭火机器人。是啊,红外传感器协助寻找火源、躲避障碍,可是帮了灭火机器人的大忙!

关键词： 并联机器人   拉格朗日乘子法   简化刚体动力学模型   逆运动学模型  

摘要： 针对广泛应用于高速抓放操作的Delta并联机器人,提出了一种基于拉格朗日乘子法的刚体动力学建模方法,并利用约束方程的全微分求解出了动力学模型的显示表达式。建立了机器人的逆运动学以及刚体动力学模型,考虑机器人从动臂臂杆为轻质碳纤维杆,两端为较重的金属附件的特点,建立了简化刚体动力学模型。并针对机器人常用的高速抓放轨迹进行仿真,将简化前后的2种动力学模型与ADAMS仿真结果进行对比。

关键词： 机器人   运动学   模型   Delta机器人   关节间隙   弹性动力学   杆件虚长度   广义碰撞力  

摘要： 针对经济实用型并联机器人关节间隙对动平台位置精度与系统振动特性影响的问题,以Delta机器人为研究对象,利用数理统计原理对含关节间隙的Delta机器人支链进行了运动学分析,结合Lankarani-Nikravesh碰撞接触力模型与具有动态修正系数的Coulomb摩擦模型对关节间隙广义碰撞力进行了研究。利用空间有限元理论与拉格朗日方程,充分考虑主、从动臂的空间动力特性与运动协调关系,建立了Delta机器人弹性动力学模型,在定义杆件虚长度的基础上,将关节间隙产生的广义碰撞力结合到弹性动力学模型中,建立了含关节间隙的Delta机器人弹性动力学模型。借助FARO激光跟踪仪对间隙弹性动力学模型进行了验证分析,利用脉冲锤击法与Workbench软件仿真对Delta机器人的振动特性进行了研究分析。试验结果表明,考虑关节间隙时动平台中心点的运动轨迹较不考虑关节间隙时更靠近试验运行结果,验证了间隙弹性动力学模型的合理性与正确性,并且,系统前两阶非零固有频率的理论值与试验值的相对误差分别为3.544%和12.026%,两者相当接近。另外,由仿真结果可以发现3组从动臂是Delta机器人整机系统中最薄弱的环节。该研究可为经济实用型并联机器人的位置误差补偿与系统减振优化提供参考。

关键词： 电脑制作   中央电化教育馆   机器人竞赛   中国移动   湖南省教育厅   最佳组织奖   政企客户   日至   技术测试   获奖情况  

摘要： 据中央电化教育馆网站消息：7月21日至26日,＂中国移动‘和教育’杯＂第十六届全国中小学电脑制作活动夏令营在安徽省成功举办。来自全国各地的800余位选手参加了比赛,经过几天激烈的机器人竞赛和作品技术测试、面试答辩,第十六届全国中小学电脑制作活动夏令营顺利落下帷幕。

关键词： 绳索牵引并联机器人   动力学   悬链线   带约束的非线性优化方法  

摘要： 针对6自由度大跨度绳索牵引并联机器人存在绳索悬链线效应的问题,分别建立了绳索的直线模型和绳索的悬链线模型,在此基础上推导了并联机器人的动力学模型,并对二者进行分析和比较.在绳索牵引并联机器人逆动力学的求解过程中,采用带约束的非线性优化方法作为求解工具来计算满足绳索单向力约束的绳索张力.仿真结果表明,考虑绳索的悬链线模型时,并联机器人逆动力学解得到的绳索末端张力与绳索的线性模型相比有很大的变化,故绳索悬链线效应不可忽略,动力学分析中必须加入绳索的悬链线模型.