关键词： 管道机器人   内外螺旋   数值仿真   计算流体力学  

摘要： 提出一种体积微小的无损伤内外螺旋管道机器人,建立了机器人在液体管道中运行时的动力学方程,运用计算流体力学方法,数值仿真机器人系统的流体流场,分析了机器人动力学特性以及环境特征参数对机器人运行性能影响。结果表明:机器人运行时,管道壁所受高压区主要集中在机器人周围附近,且压力值不大;机器人外壳外表面压力以及外壳外表面液体速度均高于内轴内表面;随着液体密度、液体粘度和偏心距的增大,机器人轴向推进力增大,随着管道直径的增大,机器人轴向推进力减小;液体粘度、管道直径和偏心距对机器人运行性能影响较大,而液体密度对其运行性能影响较小。对比外螺旋圆柱体轴向力随螺旋圆柱机体长度变化的数值计算结果和实验结果验证数值计算方法的正确性。

关键词： 滚珠丝杠   动力学建模   ANSYS   模态分析  

摘要： 滚珠丝杠是搬运码垛机器人中关节的减速装置,是搬运码垛机器人的重要组成部件之一,它不仅直接影响机器人的码垛速度,而且对机器人的定位精度有很大影响。面向搬运码垛机器人的滚珠丝杠,在对滚珠丝杠减速系统结构进行分析和对滚珠丝杠副的选择进行介绍的基础上,建立了搬运码垛机器人的滚珠丝杠减速系统动力学模型,基于ANSYS对丝杠进行了模态及谐响应分析,通过仿真验证了分析的正确性,为搬运码垛机器人中滚珠丝杠的工程设计及选用,为搬运码垛机器人的定位精度奠定了基础。

关键词： 动力学分析   拉格朗日功能平衡法   虚拟样机仿真  

摘要： 针对TPR120码垛机器人的结构特点,运用朗格朗日功能平衡法进行动力学理论分析。利用Solidworks和ADAMS软件建立码垛机器人参数化的虚拟样机模型,进行动力学仿真。仿真结果表明,TPR120机器人具有良好的动力学性能,能够满足实际作业的需要。

关键词： Ontologies for robotics and automation   Ontology-based standards   Core ontology   Ontology engineering   Semantic interoperability   Knowledge representation  

摘要： In this paper, we present the current results of the newly formed IEEE-RAS Working Group, named Ontologies for Robotics and Automation. In particular, we introduce a core ontology that encompasses a set of terms commonly used in Robotics and Automation along with the methodology we have adopted. Our work uses ISO/FDIS 8373 standard developed by the ISO/TC184/SC2 Working Group as a reference. This standard defines, in natural language, some generic terms which are common in Robotics and Automation such as robot, robotic device, etc. Furthermore, we discuss the ontology development process employed along with the problems and decisions taken. (C) 2013 Elsevier B.V. All rights reserved.

关键词： Embedded Robotics   FPGA   Omnidirectional Sensor Mobile Robot   Teaching  

摘要： This paper presents an interesting pedagogical tool, a three-wheeled omnidirectional sensor mobile robot for the teaching of the embedded robotics in undergraduate electrical and mechanical engineering courses. Both embedded system and dynamic control method are integrated in one field-programmable gate arrays (FPGA) to construct an experimental sensor mobile robot by using system-on-a-programmable-chip (SoPC) technology. Such a pedagogical omnidirectional sensor mobile robot with the embedded dynamic control law can be applied to achieve trajectory tracking task. The performance and applicability of the proposed embedded motion controller are exemplified by conducting experiments on an autonomous three-wheeled omnidirectional sensor mobile robot. This pedagogical mobile robot is shown to be significantly effective in helping students to learn embedded robotics.

关键词： Ubiquitous robots   Networked robots   Ambient intelligence   Cloud robotics  

摘要： Ambient intelligence, ubiquitous and networked robots, and cloud robotics are new research hot topics that have started to gain popularity among the robotics community. They enable robots to acquire richer functionalities and open the way for the composition of a variety of robotic services with three functions: semantic perception, reasoning and actuation. Ubiquitous robots (ubirobots) overcome the limitations of stand-alone robots by integrating them with web services and ambient intelligence technologies. The overlap that exists now between ubirobots and ambient intelligence makes their integration worthwhile. It targets to create a hybrid physical digital space rich with a myriad of proactive intelligent services that enhance the quality and the way of our living and working. Furthermore, the emergence of cloud computing initiates the massive use of a new generation of ubirobots that enrich their cognitive capabilities and share their knowledge by connecting themselves to cloud infrastructures. The future of ubirobots will certainly be open to an unlimited space of applications such as physical and virtual companions assisting people in their daily living, ubirobots that are able to co-work alongside people and cooperate with them in the same environment, and physical and virtual autonomic guards that are able to protect people, monitor their security and safety, and rescue them in indoor and outdoor spaces. This paper introduces the recent challenges and future trends on these topics. (C) 2013 Elsevier B.V. All rights reserved.

摘要： Background: Initiating a robotics program is complex, in regards to achieving favourable outcomes, effectively utilizing an expensive surgical tool, and granting console privileges to surgeons. We report the implementation of a community-based robotics program among minimally-invasive surgery (MIS) urologists with and without formal robotics training. Methods: From August 2008 to December 2010 at Kaiser Permanente Southern California, 2 groups of urologists performing robot-assisted radical prostatectomy (RARP) were followed since the time of robot acquisition at a single institution. The robotics group included 4 surgeons with formal robotics training and the laparoscopic group with another 4 surgeons who were robot-naive, but skilled in laparoscopy. The laparoscopic group underwent an initial 7-day mentorship period. Surgical proficiency was measured by various operative and pathological outcome variables. Data were evaluated using comparative statistics and multivariate analysis. Results: A total of 420 and 549 RARPs were performed by the robotics and laparoscopic groups, respectively. Operative times were longer in the laparoscopic group (p = 0.002), but estimated blood loss was similar. The robotics group had a significantly better overall positive surgical margin rate of 19.9% compared to the laparoscopic group (27.8%) (p = 0.005). Both groups showed improvements in operative and pathological parameters as they accrued experience, and achieved similar results towards the end of the study. Conclusions: Robot-naive laparoscopic surgeons may achieve similar outcomes to robotic surgeons relatively early after a graduated mentorship period. This study may apply to a community-based practice in which multiple urologists with varied training backgrounds are granted robot privileges.

关键词： Skull base surgery   Surgical robotics   Movement analysis   Co-manipulation   Robot design  

摘要： Design a compact, ergonomic, and safe endoscope positioner dedicated to the sino-nasal tract, and the anterior and middle-stage skull base. A motion and force analysis of the surgeon's movement was performed on cadaver heads to gather objective data for specification purposes. An experimental comparative study was then performed with three different kinematics, again on cadaver heads, in order to define the best architecture satisfying the motion and force requirements. We quantified the maximal forces applied on the endoscope when traversing the sino-nasal tract in order to evaluate the forces that the robot should be able to overcome. We also quantified the minimal forces that should not be exceeded in order to avoid damaging vital structures. We showed that the entrance point of the endoscope into the nostril could not be considered, as in laparoscopic surgery, as a fixed point but rather as a fixed region whose location and dimensions depend on the targeted sinus. From the safety and ergonomic points of view, the best solution would be a co-manipulated standard 6-degree of freedom robot to which is attached a gimbal-like passive remote manipulator holding the endoscope.