关键词： 整体动力学   6-DOF并联机器人   永磁同步电机   矢量控制  

摘要： 为了对电动并联机器人进行特性分析和性能预测,以永磁同步电机(PMSM)驱动6-SPU型并联机器人为例,提出一种精确整体动力学建模思想.电动并联机器人电机系统除存在随支腿的转动,转子及丝杆还存在绕自身轴线的旋转.针对这两部分运动很难单纯通过多刚体动力学或PMSM动力学来分析的问题,采用多刚体动力学来考虑第一种运动,PMSM动力学来考虑第二种运动,并建立电动并联机器人的精确整体动力学模型.该模型避免了负载折算到电机端时变等效惯量的计算,并将电机系统反电动势、粘性摩擦力考虑在内.以1Hz正弦位姿指令对并联机器人进行仿真分析,验证了模型的正确性.

关键词： 工程吊車   路徑規劃   吊裝計畫   雙吊車協同作業   機器人學  

摘要： 在现代营建工程中，吊车往往扮演举足轻重的地位，举凡钢筋结构物、混凝土建材、机电设备等等都需仰赖吊车的搬运，然而吊车在吊装作业的过程中有许多操作上的危险，如碰撞与承载荷重问题，为了确保吊装作业的安全进行，通常会以事先进行吊装路径的规划来避免上述问题的发生。但是吊装路径规划并不是一件容易的事，规划者必须有相当之经验与耐心，才能规划出完全无碰撞且符合安全荷重范围的吊装路径。 因此本研究利用电脑技术发展自动化的吊装路径规划方法，其方法主要可分为两个阶段：第一阶段，我们将吊装环境以组态空间(Configuration Space, C-space)的方式来表示，此空间表示吊车、吊物、与障碍物之间的碰撞关系，并考量吊车承载荷重的安全上限值；第二阶段，我们使用probabilistic road map (PRM)路径规划方法於组态空间中规划出无碰撞且符合安全荷重范围之吊装路径。 为了验证本研究所提出的吊装路径规划方法，我们分别进行了三项实验：实验一验证本研究方法於单吊车吊装作业的可行性；实验二验证本研究方法於双吊车协同吊装作业的可行性；实验三进行效能测试，测试本研究方法的计算效率与路径的操作性。由实验结果显示，本研究方法可适用於单吊车与双吊车协同吊装作业，且以接近即时的计算时间完成吊装路径规划，并提供易於操作且有效率的吊装路径。

关键词： Incomplete spinal cord injury   Robotics-assisted treadmill exercise   Incremental exercise test   Oxygen uptake response  

摘要： Background: Robotics-assisted treadmill exercise (RATE) is a new mode of exercise available to people with an incomplete spinal cord injury (SCI) that allows them to utilise their lower limb muscles during stepping. Pilot data suggest that RATE elicits a non-linear oxygen uptake ((V) over dotO(2)) response corresponding to a linear increase in work rate. However, a linear (V) over dotO(2) response during an incremental exercise test (IET) may be important to enable accurate estimation of key cardiopulmonary performance parameters. Aim: This study aims to characterise the linearity of the (V) over dotO(2) response elicited by a linearly increasing work rate during robotics-assisted treadmill exercise in subjects with incomplete SCI. Methods: Utilising the Lokomat system, 10 subjects each performed two IETs on a robotics-assisted treadmill to the limit of their tolerance. By employing work rate estimation algorithms, subjects were asked to use cognitive feedback and volitional control of their contribution to the exercise to follow a linearly increasing target work rate that was displayed on screen. Pulmonary gas exchange and ventilatory measurements (including (V) over dotO(2)) were continuously measured throughout the exercise using a breath-by-breath respiratory monitoring system. Linear and 3rd-order non-linear approximations with comparable R(2) values were computed for each subject's (V) over dotO(2) response to the linear increasing work rate. Results: R(2) values for the non-linear approximations were 9% higher on average (p = 0.015) than the corresponding R(2) values for the linear approximations. Conclusion: The (V) over dotO(2) response elicited by a linearly increasing work rate during robotics-assisted treadmill exercise in those with incomplete SCI is non-linear. To ensure the intensity of exercise increases linearly, a more appropriate (ET may be implemented by employing feedback control of (V) over dotO(2) to track a linear target. (C) 2009 Elsevier Lt

关键词： ROBOTICS   SCIENCE -- Study & teaching   TECHNOLOGY -- Study & teaching   ENGINEERING -- Study & teaching   MATHEMATICS -- Study & teaching   COMPETITION  

摘要： The article discusses the significance of a competitive robotics program. It is believed that a competitive robotics program, when implemented correctly, can offer an interesting learning environment for science, technology, engineering and math (STEM) subjects. It stresses that carrying out a local competitive robotics program is a serious undertaking, though partnering with an established national or regional competitive robotics organization can give a significant advantage. Some of the organizations and programs to illustrate the variety of characteristics to consider when choosing a competitive robotics partner organization included BEST Robotics, Botball Educational Robotics, FIRST Lego League (FIRST/FLL), Robofest, National Robotics Challenge (NRC) and EARLY Robotics.

关键词： Industrial 6R robots   Dynamics   Reconfigurable model   Recursive Newton-Euler method   PUMA 560   Actuators  

摘要： A reconfigurable 6R kinematic robotic model, named the Reconfigurable Puma-Fanuc (RPF) model, was developed by leveraging the similarities between different robotic systems in a unified approach. This model involves properties of all unified robots which allow the robot model to easily change from one configuration to another which produce this model to be reconfigurable. The objective of this study is to automatically generate dynamic equations for the RPF model. For the symbolic calculation of the RPF dynamic equations, the recursive Newton-Euler algorithm is employed using the symbolic algebra package MAPLE 10A (R). This dynamic model is named the Reconfigurable Puma-Fanuc Dynamic Model (RPFDM). The significance of the RPFDM is that it automatically generates each element of the inertia matrix A, Coriolis torque matrix B, centrifugal torque matrix C, and the gravity torque vector G using newly developed Automatic Separation Method (ASM). The RPFDM model is extended to the RPFDM+ model by coupling the dynamics of the actuator motors. As a numerical example, the dynamic equations for the PUMA 560 robot are obtained and compared to parameters presented in the literature.

关键词： SCIENCE teachers   ROBOTICS   CURRICULA (Courses of study)   PROGRAMMING software   CONTESTS   COMPETITIONS  

摘要： The article deals with the Advanced Competitive Science (ACS) introduced by Joe Pouliot, a science teacher at Trinity High School in Manchester, New Hampshire, which harnesses the excitement of robotics competitions to advance student involvement. It says that this two-year course that teaches robotics engineering can function as an exploratory course in robotics or as a launching pad for engineering majors. After working with different packages such as Lego Mindstorms and Not Quite C, it reveals that Pouliot started applying Intelitek's Robotics Engineering Curriculum (REC) which integrated the VEX robotics platform with easyC programming software.

关键词： OBJECT-oriented methods (Computer science)   SERVICE-oriented architecture (Computer science)   SOFTWARE productivity   DISTRIBUTED operating systems (Computers)   ROBOTICS   COMPUTER architecture  

摘要： In recent years, several technical architectural paradigms have been proposed to support the development of distributed and concurrent systems. Object-oriented, component-based, service-oriented approaches are among the most recent paradigms for the implementation of heterogeneous software products that require complex interprocess communications and event synchronization. Despite the sharing of common objectives with distributed systems research, the robotics community is still late in applying these research results in the development of its architectures, often relying only on the most basic concepts. In this paper, we shortly illustrate these paradigms, their characteristics, and the successful stories about their application within the robotic domain. We discuss benefits and tradeoffs of the different solutions with the goal of deriving some practical principles and strategies to be exploited in robotics practice. Understanding the characteristics, features, advantages, and drawbacks of the different paradigms is, indeed, crucial for the successful design, implementation, and use of robotic architectures. (C) 2009 Elsevier Ltd. All rights reserved.

关键词： cost   economics   prostatectomy   robotics  

摘要： Purpose of review New technologies such as robotics are constantly introduced clinically without a complete understanding of benefits and costs. In order for urologists to optimize their care of patients, there is a need to understand the economic factors that impact on their ability to practice medicine. This review will discuss general concepts of health economics and apply them to the application of robotics to urologic procedures. Recent findings Utilization of robotic surgery, especially for robotic-assisted laparoscopic prostatectomy, has increased dramatically in recent years, The robot adds significant costs in terms of acquisition, maintenance, and daily instrument costs. These added costs, thus far, have not been associated with significant improvement in outcomes over 'pure' laparoscopy or open procedures. In order for the robot to be cost-effective, efficacy needs to be improved over alternative approaches and costs of the robot or instrumentation needs to be decreased. Summary Robotic application is not cost-effective compared with open or laparoscopic approaches and future studies will need to determine whether there are indirect benefits that will justify its use.

关键词： Decisional DNA   knowledge representation   robotics   set of experience knowledge structure   XML  

摘要： In this article, we explore an approach that integrates Decisional DNA, a domain-independent, flexible, and standard knowledge representation structure, with robots in order to test the usability and suitability of this novel knowledge representation structure. Core issues in using this Decisional DNA-based method include capturing of knowledge, storage and indexing of knowledge, organization of the knowledge base memory, and retrieval of knowledge from memory according to current problems. We demonstrate our approach in a set of experiments in which the robots capture knowledge from their tasks and are able to reuse such knowledge in subsequent tests.