关键词： *ROBOTICS   *MACHINE theory   *AUTOMATION   *HAPTIC devices   *ROBOT dynamics  

关键词： 漂浮基空间机器人   柔性关节   柔性臂   奇异摄动法   鲁棒   模糊   滑模  

摘要： 讨论受到外部干扰影响的参数不确定的漂浮基柔性关节、柔性臂空间机器人系统的动力学建模过程、运动控制律设计和关节、臂双重柔性振动的主动抑制问题。利用动量、动量矩守恒关系和拉格朗日-假设模态法建立系统动力学方程。基于奇异摄动法,将系统分解为相互独立的三个子系统:慢变子系统、快变子系统1和快变子系统2。针对慢变子系统提出一种饱和鲁棒模糊滑模控制律来补偿不确定参数、柔性关节引起的转角误差以及外部干扰的影响,从而实现系统期望运动轨迹的渐近跟踪。饱和函数的运用可减弱滑模控制自身的抖振;针对快变子系统1设计一种速度差值反馈控制器来抑制柔性关节引起的系统柔性振动;针对快变子系统2采用线性二次型最优控制器来抑制柔性臂引起的系统柔性振动。仿真试验证明所提出的混合控制律的有效性。

关键词： 青蛙   机器人   动力学分析   MATLAB   ADAMS  

摘要： 仿青蛙游动机器人的动力学分析,是研制仿青蛙水下机器人的基础。通过对所研制的仿青蛙游动机器人机构进行简化,建立机器人系统运动学模型。在此基础上,利用拉格朗日法建立机器人系统的动力学方程,通过逆动力学分析将前期生物青蛙观测实验获取的各关节运动轨迹转化为各关节驱动力矩,最后通过对比分析分别利用MATLAB和ADAMS得到的各关节驱动力矩在一个运动周期内的变化曲线,不仅验证了动力学方程的正确性,也为后期机器人控制系统的设计提供了理论依据。

关键词： 机器人   缠绕系统   动力学分析   纤维复合材料  

摘要： 纤维复合材料非对称形体容器因其结构的特殊性往往采用人工缠绕，但人工缠绕生产出的容器缺点极其明显，不仅外观粗糙、强度低、成本高，而且性能难以保证，这一现状一直制约着整个复合材料行业的发展，实现非对称形体容器自动缠绕是复合材料行业的发展趋势。从上世纪七十年代至今国内外对于自动缠绕，无论是理论基础还是实际应用，发展都非常迟缓。现有的复合材料容器缠绕设备具有活动范围小，灵活度低、未考虑张力影响等缺点，众所周知机器人以其灵活性高的特点广泛应用于各个行业，所以将机器人应用于容器的自动缠绕势在必行。本文主要围绕以下几个方面进行研究。\n 首先，以缠绕容器的形状结构为基础，结合缠绕过程中的速度、加速度等参数，对复合材料容器在缠绕过程中纤维所受到的变张力进行分析，并由机器人各关节驱动力矩与移动耗能的关系，推导出机器人优化位姿判据。其次，根据缠绕机器人六自由度的机械结构，搭建出机器人的虚拟模型，对机器人的三个位姿进行规划，根据位姿的差异分别推导出运动学正逆方程，对机器人坐标系进行建立和分析，并针对在缠绕过程中预设的缠绕轨迹进行编程。最后，将纤维的变张力加载到机器人模型中，使机器人在受变张力和不受张力的情况下沿设计轨迹运动，用 ADAMS测量出机器人三个位姿的各关节的参数变化，分析机器人的最优位姿。\n 本文对六自由度机器人在受变张力和不受张力的情况下进行实验，使机器人模型沿预设轨迹进行运动，通过测量两种情况下的各个位姿六个关节的力矩曲线，并将实验数据与力矩耗能关系相结合，分析出在缠绕过程中机器人的优化位姿。

关键词： 机器人教学   导学   应用策略   自主探究学习   学习过程   教学效果   轮式机器人   人形机器人   项目学习   机器人竞赛  

摘要： 几年以来,我们从机器人实验室入手,尝试将机器人课程校本化。根据校本课程和学生需求,我们创作了一系列＂导学式机器人微课程＂,引导学生自主探究学习机器人知识,积极参与机器人项目活动,在教学实践中总结了导学式机器人微课程的创作流程及其在教学中的应用策略。

关键词： SURGICAL robots   ROBOTICS in medicine   SURGICAL instruments & apparatus   MEDICAL technology  

摘要： The article presents an interview with physician Santiago Horgan, the professor of surgery at the University of California in San Diego. When asked when and why he first got involved with the use of surgical robots, Horgan says that he became interested in surgical robots after learning about them at a surgical conference in 1999. He comments on factors that keep him engaged in surgical robotics. Horgan believes that robots can help surgeons perform surgery better.

关键词： Robotics  

摘要： The theory of flexible specialisation has been offering a challenging alternative to mass production system since its debut. Despite the attractiveness of the theory, practical applicability of the theoretical content has been weak. As time passes by, however, new momentum has been building up from the robotics and its related technology development, which can really open up the possibilities for flexible specialisation. Especially the advent of ageing society can be an impetus to change the industrial paradigm, due to labour shortage. This paper, noting the symptoms of change, has endeavoured with empirical data of Korea to see which industrial sectors are likely to start up this industrial change in the future. Copyright © 2015 Inderscience Enterprises Ltd.

关键词： Silver  

摘要： Japan is an ideal country for studying the effects of demographic change and population ageing. This paper focuses on an ongoing market creation process for innovative technologies such as care robotics in Japan. The labour market situation in the Japanese healthcare market is worsening, and this is why some creative inventors and entrepreneurs try to develop technologies that can (1) enable aged persons to continue living independently in their usual environment and (2) improve processes in care facilities. Combining lead market theory, stakeholder theory and the literature on market emergence, we analyse two case studies involving the most notable developments in care robotics in Japan: the HAL robot suit and the therapeutic robot Paro. We identify the stakeholders in the market creation process of Japanese care robots and evaluate the lead market potential of this developing sector. The acceptance of such robotic technologies will also be discussed with reference to the cultural specifics of Japan and other countries. Copyright © 2015 Inderscience Enterprises Ltd.

关键词： Borderline tumor of the ovary   Quality of life   Sexuality   Fertility preserving surgery  

摘要： Borderline tumors of the ovary (BOT) represent an entity of ovarian neoplasms with low malignant potential and excellent prognosis. Mainstay of therapy is surgery including adequate staging and complete tumor resection, possibly inducing long-term side effects, especially in premenopausal women. The aim of this study was to evaluate quality of life (QoL) and sexual function in patients treated for BOT, also with respect to treatment modalities. This prospective study was part of an ambidirectional multicentric cohort study in patients with BOT in Germany. Patients from seven centers completed three questionnaires after completion of therapy. QoL and sexual function data were correlated with treatment characteristics: surgical approach, lymphadenectomy, and fertility sparing surgery. One hundred ten patients returned the questionnaires. Median follow-up was 4.0 years. The majority lived in a relationship (n = 85, 77 %, missing n = 4), and 49 % (n = 54, missing n = 6) were sexually active. The main reason for sexual inactivity was "no partner" (38 %). The women had a mean global health status of 69.8 (SD 22.7;min 0, max 100), with 100 implying perfect health. Mean QoL score was 73.7 (SD 23.3, range 0 to 100). Both scores showed no difference regarding fertility preserving surgery, surgical approach, and lymphadenectomy. Sexually active women had a significantly higher QoL (78.7 vs. 67.4, p = 0.0156) and global health status (75.9 vs. 60.9, p = 0.0013) than inactive patients. In this prospective study, patients who had been diagnosed with BOT had a very good quality of life and global health status. Sexually inactive women stated lack of a partner as the main reason and had an inferior HRQoL compared to sexually active women.

关键词： Robotics   ureteropelvic junction obstruction   urology  

摘要： The well-known advantages of robotic surgery include improved dexterity, three-dimensional operating view and an improved degree of freedom. Robotic surgery is performed for a wide range of surgeries in urology, which include radical prostatectomy, radical cystectomy, and ureteric reimplantation. Robotic paediatric urology is evolving. The major hindrance in the development of paediatric robotics is, first, the differences in practice patterns in paediatric urology compared with adult urology thereby making development of expertise difficult and secondly it is challenging to conduct proper studies in the paediatric population because of the paucity of cases. The difficulties in conducting these studies include difficulty in designing a proper randomised study, difficulties with blinding, and finally, the ethical issues involved, finally the instruments although in the phase of evolution require a lot of improvement. In this article, we review the relevant articles for paediatric robotic surgery. We emphasise on the technical aspects and results in contemporary paediatric robotic case series.