关键词： 移动焊接机器人   焊缝跟踪   动力学建模   自适应控制器   焊接质量  

摘要： 焊接技术的自动化、柔性化和智能化是提高焊接质量、提高生产效率、降低制造成本的保证。采用机器人焊接已经成为焊接技术自动化的主要标志。移动焊接机器人灵活性高、活动范围广,在大型构件的焊接生产中具有良好的应用前景。但是移动焊接机器人具有非完整约束,而且在运行过程中不确定性因素多,影响其在复杂环境或高精度焊接作业中的应用。本文从运动学和动力学出发,考虑不确定性因素的影响,设计了焊缝跟踪控制器,以期提高移动焊接机器人的鲁棒性,从而提高焊接质量。\n 本文以基于视觉管道环焊机器人为研究对象,主要完成以下几方面内容:\n 1、基于状态空间法建立了移动焊接机器人的运动学方程。基于 Lagrange法建立了移动焊接机器人的动力学方程。\n 2、根据建立的运动学和动力学模型设计运算法则。在移动焊接机器人控制器设计中引入非完整约束条件来限制横向滑动的大小,避免转动瞬心的坐标超出机器人的轴距,以保证机器人的稳定性。基于运动学振荡器的构想,设计运动学控制法则;考虑不确定动态参数的影响,采用backstepping算法推导动力学控制法则。根据Lyapunov稳定性判据验证控制算法的稳定性。应用MATLAB仿真,结果表明所设计的控制算法是稳定、收敛、有效的。\n 3、以移动焊接机器人的动力学模型和设计的动力学控制法则为基础,设计了基于单层神经元的移动焊接机器人自适应控制器。采用Lyapunov稳定性判据判定该系统稳定。用MATLAB软件进行了仿真实验和比较,结果表明,在条件完全相同的情况下,加神经元的控制器具有更好的抗干扰性和鲁棒性,同时还说明了所设计的算法的有效性和正确性。

关键词： 机器人竞赛   金奖   实验小学   青少年   学校   勉县   参赛   校园  

摘要： “我们学校的机器人获全国金奖了!”这几天，勉县实验小学的校园里，这个消息像一枚响雷，震彻在学校上空，全校师生士气高涨，喜气洋洋。我们不禁会问：是怎样的一群人，制造出什么样的机器人，竟然能从全国各地包括香港、澳门的498支参赛团队、1400余名参赛青少年中脱颖而出，获得第十一届中国青少年机器人竞赛金奖呢？带着这样的疑问，记者走进了勉县实验小学。

关键词： 装配机器人   方案设计   运动学分析   动力学分析   有限元法   模态分析  

摘要： 本文设计了一种五自由度装配加工机器人并对其进行方案及结构设计、运动学、动力学解析及仿真，最后通过有限元软件对该机器人的关键部件进行了静态分析、模态分析，对分析结果进行了比较。主要工作以下几个方面：\n 1)结合装配用的钻(扩、铰)削加工载荷类型的特点，对五自由度装配加工机器人进行总体运动方案和结构方案的设计，然后运用三维软件SOLIDEDGE对机器人的主要部件进行结构设计，最后建立机器人三维实体模型及绘制了相应二维装配图。\n 2)进行装配加工机器人的运动学解析和解析软件的编制，首先建立运动学方程并求出正、逆解，采用蒙特卡洛法计算机器人的工作空间，然后采用矢量积方法构造出机器人的速度雅可比矩阵。最后通过虚拟样机技术，在ADAMS中对机器人的运动学正解、逆解、速度雅克比等问题进行仿真，将ADAMS仿真结果与论文的解析结果进行对比，从而验证了论文运动学解析的正确性。\n 3)采用第二类拉格朗日法建立装配加工机器人动力学模型，推导出机器人动力学方程。编写动力学求解程序，对动力学的逆问题进行仿真，为以后的控制和轨迹规划提供了依据。\n 4)对装配加工机器人的关键部件(腰部、臂部、腕部)在多种工况下进行静态分析，得到应力与位移分布云图，修改设计中的刚度薄弱的零部件；然后对影响机器人性能指标的关键部件进行模态分析，得到前六阶的频谱和振动特性，为避免机器人在共振时工作和改进机器人的结构提供了依据，同时也为瞬态分析、谱分析，谐响应分析打下了基础。\n 本文对五自由度装配加工机器人的相关研究，为以后该系列机器人的研究奠定了基础。

关键词： 履带式救援机器人   越障动作规划   过程动力学   结构布局   传动方案  

摘要： 救援机器人作为移动机器人的一种重要应用，随着机器人技术的发展，已经成为灾害辅助救援的有效工具，引起了全世界的广泛关注。本文主要针对项目组所设计的履带式救援机器人，对机器人的越障过程进行了详细研究，为履带式救援机器人自主越障提供了理论依据。\n 本文基于对现今国内外救援机器人研究状况和发展趋势的分析，提出了救援机器人移动机构的总体方案；根据救援机器人的设计要求，研究并确定了救援机器人的结构布局和传动方案；通过对机器人的行走功能分析，最终完成了机器人动力系统和结构参数的设计。\n 随后，论文对救援机器人跨越台阶的越障过程进行了较全面和深入的分析。明确机器人的越障条件，将机器人越障的整个过程分解为几个独立的动作序列，对各个越障动作进行运动学和动力学分析。\n 在运动学分析中，通过确立各个坐标系间的矩阵变换关系，得到了每个越障动作中机器人上参考点的运动方程；结合机器人位姿的变化对重心位置的影响，最终确定了机器人越障全过程中质心位置的运动方程，为判断机器人能否顺利越障提供了必要的理论依据。\n 最后对越障的各动作序列进行了动力学建模和分析。针对机器人越障过程中前摆臂越障、车体主履带越障以及后摆臂支撑这几个关键姿态进行了分析，完成了机器人越障过程的动力学建模；计算并确定了越障过程中主履带驱动电机及摆臂驱动电机的驱动力矩与相关变量间的变化关系，为进一步确定救援机器人在复杂环境中的适应能力提供理论依据。

关键词： robotic-assisted radical prostatectomy   robotics   robotics program  

摘要： Purpose of review Advancements in the robotic surgical technology have revolutionized the standard of care for many surgical procedures. The purpose of this review is to evaluate the important considerations in developing a new robotics program at a given healthcare institution. Recent findings Patients' interest in robotic-assisted surgery has and continues to grow because of improved outcomes and decreased periods of hospitalization. Resulting market forces have created a solid foundation for the implementation of robotic surgery into surgical practice. Given proper surgeon experience and an efficient system, robotic-assisted procedures have been cost comparable to open surgical alternatives. Surgeon training and experience is closely linked to the efficiency of a new robotics program. Formally trained robotic surgeons have better patient outcomes and shorter operative times. Training in robotics has shown no negative impact on patient outcomes or mentor learning curves. Summary Individual economic factors of local healthcare settings must be evaluated when planning for a new robotics program. The high cost of the robotic surgical platform is best offset with a large surgical volume. A mature, experienced surgeon is integral to the success of a new robotics program.

关键词： Robot   Modeling   Elastic deformation   Link   Coupling   Dynamics   Kinematics   Trajectory planning  

摘要： The motivation for this work is the state of modern structural mechanisms that are characterized by growing complexity and ever-increasing demands for rapid and accurate motion. These contradictory requirements are often achieved according to easier and easier structures characterized by flexibility segments. In most of cases, the elasticity of structures appears as an obstacle for a precise and rapid control of motion. The aim of this paper is to explore ways of implementation of structural properties of elasticity with the application of high fidelity models during synthesis and analysis of complex mechanisms. Precisely, the aim is to explore the possibility of using Euler-Bernoulli equation, if not in its original form, then to the same extent with the use of modern knowledge in robotics (based on the knowledge of classical mechanics), and to examine the affordability and confirmation of the method through simulation results for a typical robotic configuration.

关键词： Cyberphysical systems   Security   Telesurgical robotics   Telesurgery  

摘要： Researchers in telesurgical robotics and security collaborated to develop the Secure ITP, a security enhancement to the Interoperable Telesurgery Protocol (ITP). The ITP defines the structure for communication between telesurgery robots and controllers and has been adopted and tested by fourteen research groups in telesurgical robotics. The Secure ITP uses open source software tools and follows guidelines in Federal Information Processing Standards (FIPS) documents published by the National Institute of Standards and Technology (NIST) to create asecurity enhancement prototype for demonstration purposes and tofacilitate the development of new security technologies which addressthe stringent requirements of telesurgery. (C) 2011 Elsevier BM. All rights reserved.

摘要： Background: Robotic surgery has become increasingly used due to its enhancement of visualization, precision, and articulation. It eliminates many of the problems encountered with conventional minimally invasive techniques and has been shown to result in reduced blood loss and complications. The rise in endoscopic procedures in otolaryngology head and neck surgery, and associated difficulties, suggests that robotic surgery may have a role to play. Objective of Review: To determine whether robotic surgery conveys any benefits compared to conventional minimally invasive approaches, specifically looking at precision, operative time, and visualization. Type of Review: A systematic review of the literature with a defined search strategy. Search strategy: Searches of MEDLINE, EMBASE and CENTRAL using strategy: ((robot* OR (robot* AND surgery)) AND (ent OR otolaryngology)) to November 2010. Evaluation Method: Articles reviewed by authors and data compiled in tables for analysis. Results: There were 33 references included in the study. Access and visualization were regularly mentioned as key benefits, though no objective data has been recorded in any study. Once initial setup difficulties were overcome, operative time was shown to decrease with robotic surgery, except in one controlled series of thyroid surgeries. Precision was also highlighted as an advantage, particularly in otological and skull base surgery. Postoperative outcomes were considered equivalent to or better than conventional surgery. Cost was the biggest drawback. Conclusions: The evidence base to date suggests there are benefits to robotic surgery in OHNS, particularly with regards to access, precision, and operative time but there is a lack of controlled, prospective studies with objective outcome measures. In addition, economic feasibility studies must be carried out before a robotic OHNS service is established. (C) 2012 Elsevier Inc. All rights reserved.

关键词： Inspection  

摘要： The Interactive Robotics Laboratory of CEA LIST is in charge of the development of remote handling technologies to meet energy industry requirements. This paper reports the research and development activities in advanced robotics systems for inspection or light intervention in hazardous environments with limited access such as blind hot cells in the nuclear industry or the thermonuclear experimental Tokamak fusion reactor. A long-reach carrier robot called the articulated inspection arm (AIA) and diagnostics and tools for inspection or intervention are described. Finally experimental field tests are presented and actual challenges in modeling the robot's flexibilities are discussed. (C) 2011 Wiley Periodicals, Inc.

关键词： 混联   管片拼装机   动力学   性能分析   仿真  

摘要： 本课题主要是对一种六自由度混联管片拼装机作动力学分析。目的是从理论角度分析验证此拼装机的结构设计是否合理,特别是动力学性能方面是否满足工程需要。具体研究的方法及结论有： 首先对拼装机进行运动学分析。对于机构串联部分,通过选取运动副坐标,确定构件的D-H参数,再通过旋转变换得到运动副位置变换矩阵,对位置变换矩阵求导,得到运动副速度。并联机构部分采用解析法求得其位置逆解,速度分析采用矢量法。 接着对拼装机进行动力学分析。通过理论力学及机构学,分析拼装机各个运动副的动能和势能,最后运用Lagrange方程建立机构动力学模型。动力学模型为机构的仿真及系统控制做准备。 然后对拼装机微调机构进行动力学性能评价。首先简化运动副、确定运动副轴线方向,接着根据公式计算出机构的一阶影响系数、二阶影响系数矩阵,并将它们代入驱动油缸加速度、驱动力矩性能指标,通过得到的性能图谱,最后分析得出机构的最优尺寸范围。 最后对拼装机微调机构进行虚拟样机动力学仿真。将Solid Works中的几何模型导入到Adams中,对其运动副准确地添加约束、移动驱动、载荷,最后主要分析仿真结果中的驱动油缸加速度及驱动力矩曲线。结果表明,所选机构的尺寸满足系统的动力学性能要求。