关键词： 动力学分析   模态试验   并联机器人  

摘要： 为了准确评价机构动态性能,以模态试验为主要内容,采用LMS动态分析系统对并联机器人进行了动力学试验.通过简化模型的模态分析,对样机进行直接的动态性能评估,获得该时变机构的模态参数变换规律.同时分析了该机构在典型位姿处的整体模型的模态,得到影响动平台精度的关键模态,确认了需要改进的结构参数.试验结果可用于改善机构的动力学性能.通过对比分析验证了本研究中提出的试验方法适用于时变模态的试验研究.

关键词： 月球机器人   滑移   操作动力学   补偿标准  

摘要： 在对月球机器人操作动力学进行建模和分析的基础上,论证了月球机器人在复杂的月面环境进行各种样本采集工作时,车体会因为月球的微重力环境及松软的月壤而出现滑移现象。提出了以速度作为补偿判断标准的方法。通过仿真分析,论证了月球机器人工作补偿的必要性;同时,基于月面多变而未知的复杂环境,验证了不同参数对仿真结果的影响,进一步确认了对月球机器人进行工作补偿的必要性。

关键词： 绳索牵引   康复机器人   动力学   刚度  

摘要： 运用影响系数方法对1R2T绳索牵引骨盆康复机器人的运动学进行了分析,得出骨盆运动与绳索运动的映射关系,通过Matlab对骨盆步态中期望轨迹进行仿真,得到各根绳索加速度变化曲线;基于机器人力螺旋平衡方程,并利用牛顿欧拉法和达朗伯原理建立了机器人动力学模型.运用仿真方法对机器人逆动力学特性进行分析,得出绳索最小拉力阈值的设置对各根绳索拉力变化规律具有影响的结论.运用Matlab和Adams建立了机器人动力学模型,分别对是否考虑绳索刚度两种不同情况进行了联合仿真,结果证明所建模型的正确性,同时得出绳索最小拉力阈值和绳索刚度对系统运动性能的影响规律.

关键词： 管道清灰机器人   撑开机构   动力学   仿真  

摘要： 以改进型管道清灰机器人为研究对象,建立机器人行走装置撑开机构简图.利用动态仿真的联立约束法,将运动约束和牛顿-欧拉方程组成一组联立线性方程组,求解得到各关节的约束反力、加速度和速度.利用Matlab编制计算程序,基于Simulink建立仿真模型,对管道机器人撑开机构动力学进行动态仿真,仿真结果表明:机器人撑开机构滑块速度方向改变时,机构各杆件受力达到最大,且杆件3受力最大.

关键词： microrobotics   nanorobotics   nanotechnology   miniaturization   molecular-scale production   developments  

摘要： The current state and prospects of micro- and nanorobotics are described. Miniaturization and molecular-scale production are considered as two approaches to the development of nanotechnology.

关键词： ROBOTICS   ROBOT control systems  

摘要： An introduction to the journal is presented in which the editor discusses an article on the problem of simultaneous localization and mapping (SLAM) inconsistency, algorithms for vision and state estimation of micro air vehicles, and adaptive control of underwater robots.

关键词： Jacobian uncertainty   robust control   robot manipulator   visual servoing  

摘要： In this paper, an image-based robust controller is designed to compensate uncertainties with image Jacobian and robot dynamics due to uncertain depth measurement and load variations. The proposed controller with eye-in-hand structure has separate terms to compensate each of uncertainties. The ultimately uniform boundedness of the closed-loop system is proved by the Lyapunov method. The performance of the proposed control system is demonstrated by experimental results of a 5-link robot manipulator with two degree of freedom.

关键词： Investments   Robotics   Meat packaging -- Equipment & supplies   Food processing machinery  

摘要： The article reports on the plan of meat processor Moy Park Ltd. in investing projects on automation at its food manufacturing sites in Great Britain. It notes that the company has capitalized on robotic sliced meats packaging line. It also mentions that the meat processing firm has been purchased by Brazilian Marfrig Group.

关键词： mobile robotics   robotics   robotics learning  

摘要： This paper shows the potential of a Lego (TM)-based low-cost commercial robotic platform for learning and testing prototypes in higher education and research. The overall set-up aims to explain mobile robotic issues, including mechatronics, robotics and automatic control theory. The capabilities and limitations of Lego robots are studied within two experiments: the first shows how to eliminate a number of restrictions in Lego robots using some programming alternatives;the second addresses the complex problem of multi-position control. Algorithms and their additional tools have been fully designed, applied and documented, and the results are shown throughout the paper. The platform was found to be suitable for teaching and researching key issues related to the aforementioned fields.