关键词： 并联机器人   冗余驱动   运动学   动力学   ADAMS  

摘要： 与串联机器人相比，并联机器人具有精度高、刚度大、误差小、承载能力强等优点。冗余驱动并联机器人的冗余驱动特性能够克服部分奇异性，增大有效工作空间，优化关节驱动力，改善并联机器人的性能。然而，冗余驱动并联机器人存在多条支链，具有强耦合和非线性动力学特性，同时冗余驱动受限于结构和驱动方式的复杂性，增加了研究工作的难度。本文针对二自由度冗余驱动并联机器人，从运动学、动力学及动力学性能方面进行了研究。 基于螺旋理论，建立了二自由度冗余驱动并联机器人的运动学模型，通过该模型求出了并联机器人的速度正解和逆解，分析了并联机器人在工作空间中的基本运动特性。应用螺旋理论的几何原理描述并联机器人的运动特征，能够简化运算。基于速度雅可比矩阵，分别研究了二自由度非冗余驱动并联机器人与冗余驱动并联机器人发生奇异位形的数学条件以及几何特征，对比分析了奇异性对并联机器人运动性能的影响。 研究了二自由度冗余驱动并联机器人的动力学问题。首先结合拉格朗日动力学方程和虚拟弹簧方法建立了二自由度冗余驱动并联机器人的动力学数学模型，应用这种方法推出的动力学方程可以完全解耦，同时简化了建模过程，实现了并联机器人的快速建模。然后提出了二自由度冗余驱动并联机器人的驱动力优化方法，解决了驱动力分配问题， 运用ADAMS软件对二自由度冗余驱动并联机器人进行运动学与动力学仿真，验证了运动学速度求解和驱动力优化方法的正确性。 对二自由度冗余驱动并联机器人的动力学性能进行了理论及实验研究，分析了二自由度冗余驱动并联机器人运动过程中末端执行器的振动特性和频域特性，为并联机器人动力学性能的改善提供借鉴作用。

关键词： Al-Jazari   automata   Islam   robotics   technology   water  

摘要： Although water resources have been developed throughout the centuries for the service of different civilizations, at different scales and in different regions, their use in automation has been conceived only recently. Research into the history of water from an automation point of view has led to some unknown or hidden facts. Starting from the ancient Greek period before the prophet Christ and after about the 12th century, many researchers tried to make use of water power for working some simple but effective devices for the service of mankind. Among these are the haulage of water from a lower level to a higher elevation by water wheels in order to irrigate agricultural land. Hero during the Hellenistic period and Vitruvius of the Roman Empire were among the first who tried to make use of water power for use in different human activities, such as water haulage, watermills, water clocks, etc. The highlights of these works were achieved by a 12th century Muslim researcher, Abou-l Iz Al-Jazari, who lived in the southeastern part of modern day Turkey. He reviewed all the previous work from different civilizations and then suggested his own designs and devices for the use of water power in automation of excellent types. He even combined animals and water power through early designs of valves, pistons, cylinders and crank mills, as will be explained in this paper. His works were revealed by German historians and engineers in the first quarter of the 19th century. Later, an English engineer translated his book from Arabic into English, revealing the guidelines for modern automation and robotic designs originating from the 12th century. This paper gives a brief summary of the early workers' devices and Abou-l Iz Al-Jazari's much more developed designs with his original hand-drawn pictures.

关键词： 机器人学  

ISBN: (纸本)9787560630205

摘要： 本书简明地介绍了机器人学最基础也是最重要的内容, 主要包括绪论, 空间描述与坐标变换, 机器人运动学, 机器人逆运动学等。

关键词： 并联机器人   运动学   动力学   虚拟样机建模   仿真  

摘要： 并联机器人具有高效灵活、刚度大、误差小、成本低、结构稳定、承载力大、容易实现控制等优点,是目前制造业的研究热点之,所以被广泛应用于航空航天、船舶、国防、汽车等行业,也可将并联机器人应用于石材行业,实现复杂的立体三维曲面运动。 详细介绍了3-TPS/TP型并联机器人的构型设计,确定机构拟实现的运动形式。并对机构运动学做了详细分析,找到刀尖点位姿变化与主动链驱动杆位移量之间的变化关系;刀尖点的速度和加速度与驱动杆的速度及加速度之间的映射关系。运用推导的运动学理论,若给定末端执行器刀具的位姿、速度和加速度,然后变换为主动链驱动杆上伺服电机的控制指令。所以运动学分析对于并联机器人控制系统的研究具有重要的意义。 对并联机器人各个子系统的物理特征做了详细的介绍,然后运用拉格朗日方程,建立了动平台和并联工作头的动力学方程,最终给出驱动力的两种表达形式：一是从引起驱动力变化的因素上考虑;二是从机构的各个子系统所需驱动力考虑。当已知刀尖点的运动情况时,通过这两种驱动力表达式就可以求解驱动力的变化范围,也就能够获得机构在运动时所需的最大驱动力,为伺服电机的选择提供参考依据。 确定了主动链伸缩装置的实现形式,采用伺服电机驱动滚珠丝杠完成伸缩运动,对滚珠丝杠和伺服电机都做了详细的选型计算。在Solidworks软件里,对并联机器人整机进行了三维样机建模,直观充分的表达出各个零部件的形状和装配的先后顺序,通过反复的设计修改,最终完成整机虚拟样机的模型,为后续零件图纸的绘制、样机的制作和控制线路的安排提供了参考。 在ADAMS软件里,对并联机器人进行了运动学和动力学仿真,更加直观的看到刀尖点运动与各驱动杆驱动力之间的对应变化关系,对并联机器人的设计具有重要意义。应用MATLAB软件,对并联机器人进行动力学仿真分析,得到驱动力的变化范围,综合仿真结果得出重力在运动过程中对驱动力的影响最大,哥氏力和离心力对驱动力的影响很小。

关键词： 冗余驱动   并联机器人   逆动力学建模   联合仿真   力/位混合控制  

摘要： 本文密切结合开发冗余并联机器人的需求，以一台五自由度冗余驱动并联机器人为研究对象，系统地研究了机器人的结构特点与分析方法、逆动力学建模与仿真技术、控制策略与机械系统—控制系统联合仿真技术，并通过力/位混合控制实验研究，验证了冗余驱动对提高并联机器人的位置精度和动态性能的有效性。具体内容如下： 针对6PUS-UPU冗余驱动并联机器人的结构特点，提出了将其等效为6PUS-UPS且中间分支对动平台作用额外约束力的分析方法，并应用螺旋理论求解了中间分支对动平台的约束力，获得了约束力为力和力矩的统一的表达式，降低了动力学模型计算时的复杂性。 应用Kane法建立了冗余驱动并联机器人的逆动力学模型，并以平衡机器人各分支受力为目标，采用了冗余力二范数最小的方法对驱动力进行了优化；应用Pro/E和ADAMS软件建立了机器人的虚拟样机，验证了Kane法所建的逆动力学模型的准确性，也展现了冗余驱动力的优化效果。 建立了机器人交流伺服系统、直线运动单元的数学模型，并应用Simulink对交流伺服系统的控制器参数进行了整定。通过对几种常用控制方法的简要介绍和比较，最终确定了力/位混合控制策略：非冗余分支采用基于PID的位置控制，冗余分支采用基于改进的计算力矩的力控制。应用ADAMS与MATLAB进行了机械系统—控制系统联合仿真，验证了与非冗余控制相比，冗余控制下机床的精度和稳定性更好一些。 对冗余并联机器人进行了基于力传感器的力/位混合控制实验研究，实验结果验证了冗余驱动对改善并联机器人各分支受力有明显的作用。

关键词： 机器人行为   学会   新技术   有机器   卷心菜   家用型   早餐   沙拉   普及   导读   厨房   程序  

摘要： [导读]很多人幻想，当家用型机器人得到普及的时候，能在清晨睡梦中，就有机器帮佣在厨房里为你切一盘早餐沙拉--不过，万一它程序错乱，认为床上那一颗才更像是卷心菜，该怎么办？

关键词： Embodiment   living technology   microbial fuel cell   energy management   artificial metabolism   motivation   cognitive systems  

摘要： We present a novel example of a biomechatronic hybrid system. The living component of the system, embedded within microbial fuel cells, relies on the availability of food and water in order to produce electrical energy. The latter is essential to the operations of the mechatronic component, responsible for finding and collecting food and water, and for the execution of work. In simulation, we explore the behavioral and cognitive consequences of this symbiotic relation. In particular we highlight the importance of the integration of sensorimotor and metabolic signals within an evolutionary perspective, in order to create sound cognitive living technology.

关键词： Curriculum   Adult learning theories   Constructivism   Simulator   Robotic surgery   Text mining   Curricula   Robotics  

摘要： Purpose - The aim of this research is the development of a problem-based curriculum for robotic surgical training and its evaluation. Design/methodology/approach - First, the aim and objectives of the curriculum are defined and the background learning theories that guide our work are introduced. The methodology for designing the simulator-based training is presented and finally the output of this work is reported, that is the SAFROS training paradigm, resulted as a balanced synthesis of behavioural and constructivist learning theories. Findings - The evaluation of basic skills tasks of the curriculum revealed a high acceptance among the trainees. Research limitations/implications - Within this paper, a first implementation and evaluation of the basic skills tasks is described. Further cooperation between pedagogues and software engineers is required in order to put in practice the whole curriculum. Then, further training experiments with surgeons are necessary to check the validity of the whole curriculum. The authors also need to establish proficiency criteria that can come from the achievements of expert surgeons using the simulator and the robot and use them as final goals to be achieved by trainees in future courses. In the field of subjective evaluation, a possible future extension might be a bigger number of questions. Moreover, the innovative method of text mining in its application to opinion mining decisions can be further applied. Originality/value - In this paper, an innovative approach for the development of a simulator-based curriculum for robotic surgical training is presented and first evaluation results based on ratings from trainees are also presented. The value of this paper is relevant to medical trainers and curriculum designers.

关键词： 机器人   课程建设   创新精神   工程实际  

摘要： 机器人技术是一门融合了机械、电子、传感器、计算机、人工智能等多学科交叉的综合性学科。以培养学生的创新精神和工程实践能力为目标,紧密结合工程实际,从教学内容、教学方法、考评方式三方面提出了"机器人学"课程的具体改革方案,并在教学工作中进行实践,取得了良好的教学效果。

关键词： Friction   tendon   pulley   finger   hand   robotic  

摘要： Physiological studies of the human finger indicate that friction in the tendon-pulley system accounts for a considerable fraction of the total output force (9-12%) in a high-load static posteccentric configuration. Such a phenomenon can be exploited for robotic and prosthetic applications, as it can result in (1) an increase of output force or (2) a reduction of energy consumption and actuator weight. In this study, a simple frictional, two-link, one-degree-of-freedom model of a human finger was created. The model is validated against in vitro human finger data, and its behavior is examined with respect to select physiological parameters. The results point to clear benefits of incorporating friction in tendon-driven robotic fingers for actuator mass and output force. If it is indeed the case that the majority of high-load hand grasps are posteccentric, there is a clear benefit of incorporating friction in tendon-driven prosthetic hand replacements.