关键词： 斜拉桥   机器人   缆索检测   结构设计   动力学分析  

摘要： 针对当前缆索维护作业自动化的迫切需求,设计出一种新型连续移动式缆索机器人装置的可行性方案,该机器人采用电动机驱动,并配合滚轮结构,使机器人在爬行和越障过程中均可实现快速、连续地移动。介绍了机器人的机构组成、工作原理及运动特点。在此基础上对机器人进行动力学分析,综合考虑机器人在非越障爬升状态和越障爬升状态下的运动要求,计算出机器人在缆索上工作时所需的附着力、临界驱动力和最大驱动力,进而对电机的参数做出初步估算。

关键词： 机器人   挠性驱动单元   动力学   钢丝绳建模  

摘要： 设计一种钢丝绳传动、动滑轮组增力的机器人关节用模块化挠性驱动单元,其特点是轻型小巧、安装方便、双向驱动、挠性输出。基于粘弹性本构关系推导该驱动单元动力学模型,并给出算例。提出一种三维相对可变多义线建立'钢丝绳—动滑轮'系统的方法,利用该方法在动力学仿真软件下建立驱动单元模型,并以双足步行机器人2 km/h步速下髋关节侧偏自由度正常步行一步的样本为依据进行动力学仿真。结果表明该驱动单元能有效应用于机器人,为后续试验奠定理论依据。

关键词： 机器人教育   研究现状   课程设计   机器人竞赛   intel未来教育  

摘要： 近年来,技术课程越来越受到人们的广泛关注,培养具备实践动手能力及创新思维能力的学生正伴随着新课程改革的推行,不断地、迅速地向前发展。正因为如此,机器人教育再次进入了人们的视野。本文通过中国全数据期刊网等,在了解到国内机器人教育的发展状况以及存在的问题,对其作了总结的基础上,从培养机器人教师的校本课程出发,结合相关的教学原则、理念,介绍了我校开展的针对教育技术学免费师范生机器人教育相关课程培养方式及理念的相关信息,以期推动中小学机器人教育的发展。

关键词： 漂浮基   闭链双臂空间机器人   模糊变结构控制   力/位置混合控制  

摘要： 讨论了载体位置、姿态均不受控制的漂浮基双臂空间机器人抓物系统的动力学建模和控制问题.利用拉格朗日方法和牛顿欧拉法分别建立了双臂空间机器人及负载的非线性动力学模型,结合空间机器人固有的特性及闭合链约束关系,得到抓持系统合成动力学方程.以此为基础,考虑到空间机器人系统结构的复杂性及某些参数的变动性,根据具有较强鲁棒性的变结构控制理论,针对该抓持系统惯性空间轨迹跟踪设计了全局滑模控制方案及相应的PI内力控制方案,从而达到位置、力的混合控制.为克服滑模控制器抖振的缺点,附加设计了模糊控制器.根据系统的输出来动态调节滑模控制器的参数,从而既可确保系统的快速响应又可降底原有的抖振.系统数值仿真征明了上述控制方案的有效性与准确性.

关键词： 机器人竞赛   创新能力   培养方案  

摘要： 机器人竞赛是培养学生创新精神,提高学生创新能力的有效方法。通过参加这项竞赛,可以培养学生查阅资料能力、自学能力、分析问题与解决问题的能力、综合设计与调试能力、科技论文写作能力,培养了学生理论联系实际的作风、团结协作精神和创新意识。为此,本文将机器人竞赛作为学生创新能力培养的平台,探讨机器人竞赛与学生创新能力培养的具体方案。

摘要： This research demonstrates the design of a Joyful Classroom Learning System (JCLS) with flexible, mobile and joyful features. The theoretical foundations of this research include the experiential learning theory, constructivist learning theory and joyful learning. The developed JCLS consists of the robot learning companion (RLC), sensing input device, mobile computation unit, mobile display device, wireless local network and operating software. The aim of this research is to design and evaluate the JCLS, which is implemented by using robot and RFID technologies. The developed JCLS system has been applied in real world for supporting children to learn mathematical multiplication. Both pilot experiment and formal experiment were conducted and the results showed that the JCLS can provide learners with more opportunities for hands-on exercises and deepening their impressions about the learning contents. Having many opportunities for hands-on exercises, learners can have more thinking time for knowledge construction. Using robot to design RLC can simultaneously increase learners' motivations and offer a more joyful perception to learners during the learning process. On the other hand, the JCLS can support instructors to immediately acquire the learning statuses of every learner for adjusting his/her in-class instructional strategy and giving after-school assistances.

关键词： Surgical robotics   Robotic surgery   Computer-assisted surgery   Robot-assisted surgery   Minimally invasive surgery  

摘要： This paper presents an overview of the surgical robotics field, highlighting significant milestones and grouping the various propositions into cohorts. The review does not aim to be exhaustive but rather to highlight how surgical robotics is acting as an enabling technology for minimally invasive surgery. As such, there is a focus on robotic surgical solutions which are commercially available;research efforts which have not gained regulatory approval or entered clinical use are mostly omitted. The practice of robotic surgery is currently largely dominated by the da Vinci system of Intuitive Surgical (Sunnyvale, CA, USA) but other commercial players have now entered the market with surgical robotic products or are appearing in the horizon with medium and long term propositions. Surgical robotics is currently a vibrant research topic and new research directions may lead to the development of very different robotic surgical devices in the future-small, special purpose, lower cost, possibly disposable robots rather than the current large, versatile and capital expensive systems. As the trend towards minimally invasive surgery (MIS) increases, surgery becomes more technically demanding for surgeons and more challenging for medical device technologists and it is clear that surgical robotics has now an established foothold in medicine as an enabling technology of MIS. (C) 2010 Elsevier Ltd. All rights reserved.

关键词： Sine function   Robots   Coordinate systems   Mathematics teachers   Robot arms   Spreadsheets   Trigonometric identities   Computer algebra systems  

摘要： Robots are used in all kinds of industrial settings. They are used to rivet bolts to cars, to move items from one conveyor belt to another, to gather information from other planets, and even to perform some very delicate types of surgery. Anyone who has watched a robot perform its tasks cannot help but be impressed by how it works. Here, Sultan offers some insight into the mathematics that goes into designing such a robot.

关键词： LETTERS to the editor   SURGICAL robots  

摘要： A response from Carl A. Nelson and Cmitry Oleynikov to a letter to the editor about their article "Multi-Purpose Surgical Robot As a Laparoscopic Assistant" is presented.

关键词： HONEYBEES   VISUAL perception   NAVIGATION (Aeronautics)   SPEED   LANDING of airplanes   SOLAR compass  

摘要： Srinivasan MV. Honeybees as a Model for the Study of Visually Guided Flight, Navigation, and Biologically Inspired Robotics. Physiol Rev 91: 413-460, 2011;doi:10.1152/physrev.00005.2010.-Research over the past century has revealed the impressive capacities of the honeybee, Apis mellifera, in relation to visual perception, flight guidance, navigation, and learning and memory. These observations, coupled with the relative ease with which these creatures can be trained, and the relative simplicity of their nervous systems, have made honeybees an attractive model in which to pursue general principles of sensorimotor function in a variety of contexts, many of which pertain not just to honeybees, but several other animal species, including humans. This review begins by describing the principles of visual guidance that underlie perception of the world in three dimensions, obstacle avoidance, control of flight speed, and orchestrating smooth landings. We then consider how navigation over long distances is accomplished, with particular reference to how bees use information from the celestial compass to determine their flight bearing, and information from the movement of the environment in their eyes to gauge how far they have flown. Finally, we illustrate how some of the principles gleaned from these studies are now being used to design novel, biologically inspired algorithms for the guidance of unmanned aerial vehicles.