关键词： 助行机器人   动力学   康复训练   力学分析  

摘要： 为帮助下肢功能障碍患者实现正常的行走功能，为助行机器人设计了一种双曲柄摇杆形式的助行机构，该机构仅使用一个驱动元件实现其运动控制，且能够实现行走过程中大腿和小腿之间的协调运动关系。在助行机构力学分析的基础上，利用联立约束法建立了该助行机构的动力学模型，进行了其运动学和动力学仿真分析，进而得到了其带动人体行走时一个步态周期内下肢关节转角、下肢运动轨迹及助行机构所需的控制力矩，为助行机构设计和控制系统驱动装置的优化设计提供了依据。并通过物理样机进行了助行训练的实验研究。仿真分析和实验研究结果均表明：在助行机构的带动下，受试者下肢的运动规律符合正常人行走时的步态特征，运动轨迹正确，步态连续。

关键词： 自平衡机器人   独轮机器人   动力学建模   偏航控制  

摘要： 机器人的首要问题是运动平衡，对于静不平衡机器人，可以在其运动过程中实现平衡控制，这也是研究独轮自平衡机器人的重要意义。独轮机器人一种典型的非完整、非线性、静不平衡系统，其灵活移动要求保持平衡、直线行驶，同时要能改变航向，是控制科学与机器人学研究的重要问题。\n 本文研究了具有水平飞轮和竖直飞轮的独轮自平衡机器人的偏航控制问题，该机器人由下电机驱动一个车轮控制行走和前向平衡，由中电机驱动一个竖直飞轮形成反力矩用于保持侧向平衡，由上电机驱动一个水平飞轮形成反力矩实现偏航控制。本文首先采用凯恩方法建立双飞轮独轮自平衡机器人的动力学模型，然后对机器人的非线性模型在平衡点附近线性化得到其近似的线性模型，在此基础上设计机器人的LQR偏航控制器，最后通过仿真和物理实验实现了独轮机器人在原地站立和行进过程中偏航控制，取得的主要研究成果如下:\n 1)独轮自平衡机器人偏航运动的动力学建模与分析运用凯恩方程建立了独轮自平衡机器人在水平面上偏航的动力学模型。将机器人系统抽象为由车轮、机器人体及竖直惯性飞轮和水平飞轮四个刚体组成的系统，对其进行假设和简化，建立了独轮自平衡机器人系统的动力学模型，并分析了系统的稳定性和能控性，为独轮自平衡机器人在平地上的原地偏航控制器和行进中的偏航控制器的设计奠定了基础。\n 2)基于LQR算法的独轮自平衡机器人的偏航控制仿真研究实现了独轮自平衡机器人在水平地面上的偏航控制仿真。首先，将独轮自平衡机器人系统状态方程在平衡点附件线性化，设计线性二次型最优控制器，实现系统的偏航控制。对独轮机器人系统在水平地面分别进行了原地站立状态的小角度和大角度偏航、行进过程中的小角度和大角度偏航的仿真实验。在MATLAB/SIMULINK环境下的数值仿真实验表明，独轮机器人无论在原地还是行进中偏航，都能获得很好的控制效果。水平飞轮每次加速到饱和速度，机器人最大可偏航5.7°;根据不同的控制周期和偏航前的运动状态，机器人可在8～12秒内的偏转45°，这是水平飞轮多次加速偏航的结果。根据本文分析，水平飞轮的偏航控制能力局限，如果期望更大的偏航角度，如90°或180°，则需要加倍的控制时间。\n 3)基于LQR的独轮机器人偏航控制物理实验本课题在实物平台上实现了独轮机器人的偏航控制。首先，通过实物详细分析和验证了水平飞轮偏航的速度饱和特性和控制策略。然后在独轮机器人的实物上进行了原地站立状态的小角度(6°)和大角度(45°)偏航、行进过程中的小角度到大角度偏航的物理实验，并通过物理实验分析对比了水平飞轮的改进对偏航效果的影响。实验结果表明，双飞轮的独轮机器人在原地站立和行进中都能进行较好的小角度和大角度偏航控制。水平飞轮每次加速到饱和速度使机器人最大可偏航约7°;根据不同的控制周期和偏航前的运动状态，机器人可在10～17秒内的偏转45°。同时，独轮机器人在控制时间加倍的情况下可以偏转到任意角度，说明独轮自平衡机器人具备灵活的移动性。最后，对水平飞轮改进前后的偏航实验进行了对比分析，表明适当增加水平飞轮的转动惯量可以使偏航能力有很大提升。

关键词： 机器人   冷凝器   清洗   动力学   自适应控制系统   轨迹跟踪  

摘要： 设计了水下冷凝器清洗机器人的机械和电气系统,考虑到浮力、水流阻力等因素的影响,建立了冷凝器清洗机器人的水下动力学模型.针对工作环境复杂的特点,提出了一种自适应控制策略,该控制律结构简单,鲁棒性强,能够对系统中的未知和不确定性因素进行有效补偿.设计过程采用了Lyapunov方法,保证了控制系统的稳定和收敛.仿真结果表明,该控制器性能稳定,具有良好的轨迹跟踪能力,同时也验证了本文建立模型的合理性.

摘要： The applications of robotics in recent years has emerged beyond the field of manufacturing or industrial robots itself. Robotics applications are now widely used in medical, transport, underwater, entertainment and military sector. In medical field, these applications should be emphasized in view of the increasing challenges due to the variety of findings in the field of medicine which requires new inventions to ease work process. The objective of this review paper is to study and presents the past and on-going research in medical robotics with emphasis on rehabilitation (assistive care) and surgery robotics which are certainly the two main practical fields where robots application are commonly used presently. The study found that, rehabilitation and surgery robotics applications grow extensively with the finding of new invention, as well as research that is being undertaken and to be undertaken. The importance of medical robot in medical industry is intended to offer positive outcomes to assist human business through a complicated task that involves a long period, accuracy, focus and other routines that cannot be accomplished by human ability alone.

关键词： 机器人学   虚拟现实   SimMechanicsCAD转换器  

摘要： 为了展现抽象的数学理论形象,提出了一种使用SimMechanics CAD转换器生成基于VRML的机器人虚拟样机的方法.生成的虚拟样机具有和真实机器人一致的控制界面、相似的动力学特性、细腻的图形交互,并可以完全脱离仿真软件、建模软件和程序开发软件的支持而单独、实时运行.此开发方法直接利用机械装配图,生成包含动力学的虚拟样机,降低了虚拟样机的开发难度,满足了快速、高质量的开发要求.

摘要： This paper discusses about the analysis on the centre of gravity (C.O.G) in affecting the input reference of the motion control of the extendable double-link of two-wheeled mobile robot. The proposed system mimics double inverted pendulum, where the angular position of the first link (Link1) is to be varied depends on the value of the angular position of the second link (Link2) and the elongation of the extendable-link (Link3) that is attached to Link2 with different payload. The two-wheeled mobile robot together with the extendable link on Link2 makes that system become more flexible but yet, the system has become more unstable. The inclination of extendable link at any interest angle will affect the C.O.G of the system especially when the payload is having a significant weight. This two-wheeled mobile robot can be balanced on the condition that the system's center of gravity must be located on the centre of the wheels. Therefore the input reference of Link1 will be determined from the C.O.G analysis of the system with the payload. Preliminary results show that the angular position of Link1 can be set at suitable degree based on C.O.G analysis that is used for motion control.

关键词： 码垛机器人   运动学   动力学   仿真  

摘要： 为了评价码垛机器人的工作能力和实现作业的精确控制,需对码垛机器人进行运动学和动力学仿真。本文以ABB IRB660码垛机器人为例,利用Matlab机器人工具箱编程,对码垛机器人进行运动学仿真,同时利用ADAMS建立虚拟样机,对码垛机器人进行运动学和动力学仿真。本研究有利于码垛机器人的结构设计和动作控制,通过仿真验证了机构设计的合理性和仿真方法的正确性,也为码垛机器人的电机选择提供了依据。

摘要： Tele-Robotics system using bilateral control is an effective tool for task in disaster scenes, and also in extreme environments. The conventional systems are equipped with a few color video cameras captures view of the task field, and their video images are sent to the operator via some network. Usually, the images are captured only from some fixed angles. So the operator cannot obtain intuitively 3D-sense of the task field. In our previous study, we proposed a construction tele-robotics system based on VR presentation. The operator intuits the geometrical states of the robot presented by CG, but the information of the surrounding environment is not included like a video image. So we thought that the task efficiency could be improved by appending the CG image to the video image. In this study, we developed a new presentation system based on augmented reality (AR). In this system, the CG image, which represents 3D geometric information for the task, is overlaid on the video image. In this study, we confirmed the effectiveness of the system experimentally. Additionally, we verified its usefulness to reduction of the communication delay associated with a tele-robotics system.

关键词： Robotic   Colon cancer   Minimal invasive colectomy  

摘要： Lap Colectomy and Robotics for Colon Cancer Eduardo Parra-Davila and Sonia Ramamoorthy Robotic approaches have seen significant growth in the last 5 years. Taking advantage of three-dimensional visualization, improved articulation, and multiple operating arms provides theoretical and real advantages in colorectal cancer surgery. This article reviews the potential advantages and disadvantages, current outcomes, and future directions for robotic approaches to colon cancer surgery.

关键词： Assistive robotics   Social awareness   Engineering education   Robot contest   Robot design projects  

摘要： This paper proposes an approach to promote students' social awareness as part of challenging projects in robot design. A new robot contest was developed to motivate and focus these projects: RoboWaiter, the first international robot competition in the rapidly growing area of assistive robotics. RoboWaiter has been held since 2009 in Hartford, Connecticut in conjunction with the annual international Trinity College Fire-Fighting Home Robot Contest. We describe how dialogue among the authors and members of the Connecticut Council on Developmental Disabilities (CTCDD) directed development of RoboWaiter and led the CTCDD actively to participate in the organization and execution of the contest. We discuss the assignment and rules of the competition as well as the engineering challenges associated with designing robots for RoboWaiter. We also present responses of contest participants, both engineering students and people with disabilities. These reflections indicate that the challenge of creating a fetch-and-carry robot raised curiosity among engineering students and increased their interest in participating in the project. Moreover, the RoboWaiter project helped students to recognize the social challenge of assistive robotics and to understand that engineering work has importance beyond pure technical achievement. Participation of people with disabilities in the robot contest was motivated by the wish to draw public attention to the need for new assistive technologies and to inspire socially responsible education in universities and schools.