关键词： Grippers   Robotics   Robot design   Artificial muscle   Handling   Flexible manufacturing  

摘要： Purpose The purpose of this paper is to provide a "Q&A interview" conducted by Joanne Pransky of Industrial Robot Journal as a method to impart the combined technological, business and personal experience of a prominent, robotic industry engineer-turned entrepreneur regarding his pioneering efforts in the industrial robot industry and the commercialization and challenges of bringing robotic inventions to market. This paper aims to discuss these issues. Design/methodology/approach The interviewee is Charlie Duncheon, CEO, Cofounder and Chairman of the Board at Celltrio, Inc, a manufacturer of automation-based solutions for the life sciences industry. Duncheon shares his nearly 40-year journey as a robotics industry executive and entrepreneur, including his achievements and challenges. Findings Charlie Duncheon received a Bachelor of Science in industrial engineering from Purdue University and an MBA from Southern Illinois University, Edwardsville. At Monsanto, the first company he worked for after college, he worked his way up to be the Chairman of the Corporate Robotics Task Force. Duncheon then chose to work for the startup Fared Robot Systems, Inc., where he became the VP of Sales. In 1984, he joined Adept Technology at its inception and became Senior VP. About 20 years later, Duncheon founded his own consulting company, Duncheon Associates, and from the multiple consulting contracts he executed in automation, he was asked four different times to serve as the company CEO of the new companies: Artificial Muscle, Inc., EIG America, Grabit, Inc. and Celltrio, Inc., the last three which he also cofounded. Originality/value Charlie Duncheon, with a passion for robotic engineering and love for new challenges, led seven different robot companies to successful growth. His major accomplishments include establishing an unprecedented worldwide channel of 100+ integrators while at Adept Technology, growing Adept to $100m+ revenues and an initial public offering;being promoted

关键词： 高等职业教育   创新大赛   机器人竞赛   人文学院   焦作大学   理论宣讲   机电学院   经管学院  

摘要： 我校经管学院代表队在省教育厅举办的河南省高等职业教育青年教师课堂教学创新大赛中勇夺"酒店服务技能"赛特等奖。扈晓婕,焦作大学人文学院教师,在河南省"党的创新理论万场宣讲进基层"理论宣讲大赛决赛中,她的《微光成炬向光前行》荣获三等奖。我校机电学院代表队在第七届河南省大学生机器人竞赛中获一等奖一项、三等奖二项。

关键词： SCARA机器人   拉格朗日法   动力学参数辨识   递推最小二乘法  

摘要： 为了提高SCARA机器人在工业场合中的工作精度,对其动力学模型进行分析是有效途径之一。建立机器人拉格朗日动力学方程并进行线性化处理,得到一组关节力矩和待辨识参数的线性表达式。选取有限项傅里叶级数作为激励轨迹模型,并使机器人启停时关节角速度和角加速度为零,确保机器人运行平稳。再将线性表达式中观测矩阵的条件数作为优化指标,并结合MATLAB优化工具箱,获得关节最优激励轨迹系数。最后通过递推最小二乘法获得待辨识参数,并代入关节力矩表达式中,并与实际采集力矩值进行比较,确定两者变化趋势。结果表明:实验能够获得较为理想的效果,经过辨识计算所得关节力矩可用作相关领域的动力学控制。

关键词： 爬壁机器人   动力学建模   旋量理论   Udwadia-Kalaba理论  

摘要： 针对爬壁机器人的动力学建模问题,通过构造虚拟机构将爬壁机器人转换为具有固定基的开链系统,基于旋量理论并借助传统的拉格朗日建模方法给出了爬壁机器人未受约束时的动力学方程。借助Udwadia-Kalaba理论的建模思想,获得了爬壁机器人在预定轨迹下的解析动力学方程,避免了传统拉格朗日方程对于拉格朗日算子的依赖。数值仿真结果证明了该方法的有效性。

关键词： 采摘机器人   动力学   仿真分析效果   VR技术   可视化   结构识别  

摘要： 在采摘机器人的设计时,为了提高其动力学设计的效果,将VR技术引入到了设计过程中,采用计算机软件创设虚拟环境,支持对采摘机器人动力学进行仿真,并具有数字化展示功能,可以更好的将产品的初步设计展示给设计者和客户,使产品具有更好的整体性和协调性。为了验证方法的可靠性,以采摘机器人底座的设计为例,对其设计效果以及设计耗时进行了测试。测试结果表明:采用VR技术可以成功的实现采摘机器人动力学设计,且仿真设计的周期较短,效率更高,还能获得更高的用户满意度,对于采摘机器人产品的可视化设计的研究具有重要的意义。

关键词： 康复机器人   服务机器人   机器人学   人体运动学   外骨骼   救援设备   科幻电影   突发性灾害  

摘要： 科幻电影《环太平洋》给了我设计灵感。我在《仿生服务机器人与医疗康复机器人》一书中了解到,人体拥有神奇的特性和功能,可以成为优良的仿肘爆W!合机器人学、人体运动学、控制际等进行了仿生臟。第一步,在保证安全的前提下,对建筑物坍塌等突发性灾害情况进行实地考察,弄清在突发情况下应急救援存在的问题。第二步,走访虚拟仿真实验研究室、防灾应急体验馆等,了解目前国内的救援设备,并采访工作人员,研究人体外骨骼的结构功能图,根据肩关节、肘关节、髋关节、膝关节的结构特点设计图纸,筛选项目所用的制作材料。

关键词： 快速移动   移动机构   动力学分析   Adams  

摘要： 针对目前市场上现有的机器人移动机构驱动多、控制繁琐、稳定性差的现象,研究了一款拥有平面内全方位快速移动功能的躲闪机器人同步移动转向机构。采用驱动电机和转向电机相互配合的方式实现全方位移动,为了检验移动机构模型建立的合理性,采用拉格朗日方程完成移动机构的动力学分析;并采用Adams软件完成移动机构虚拟样机的仿真模拟,得到相关转矩曲线;最后,完成了移动机构的实验测试。通过理论计算、仿真模拟、实验测试三者之间的相互验证,检验了躲闪机器人移动机构模型建立的准确性。

关键词： Catastrophic forgetting   State primitives   Robotics   Continual learning  

摘要： People can learn continuously a wide range of tasks without catastrophic forgetting. To mimic this functioning of continual learning, current methods mainly focus on studying a one-step supervised learning problem, e.g., image classification. They aim to retain the performance of previous image classification results when neural networks are sequentially trained on new images. In this paper, we concentrate on solving multi-step robotic tasks sequentially with the proposed architecture called state primitive learning. By projecting the original state space into a low-dimensional representation, meaningful state primitives can be generated to describe tasks. Under two kinds of different constraints on the generation of state primitives, control signals corresponding to different robotic tasks can be separately addressed only with an efficient linear regression. Experiments on several robotic manipulation tasks demonstrate the new method efficacy to learn control signals under the scenario of continual learning, delivering substantially improved performance over the other comparison methods.

关键词： Robotics training   Creativity   Learning   Students   Physics  

摘要： The ever-increasing advances in technology have made it necessary to make use of new educational methods in educational systems. Therefore, in this study, the effects of robotics training on students' creativity and learning physics were investigated. The research design was pretest posttest quasi-experimental, including one control and one treatment groups. The participants of the study included 120 males and females from 11th grade, studying at different schools in Tehran, Iran (members of the robotic schools training plan) in the educational year 2016-17. They were selected and studied through multistage random cluster sampling. After an eight-session treatment period, the data were collected through employing the Torrance Creativity Questionnaire (1979) including four dimensions namely fluidity, flexibility, innovation, and detailed explanation in the format of 60 items, a test of 10 learning points, and a package of training on robotic constructs in physics. For data analysis, Covariance analysis was employed. The findings indicated that Robotics training influenced and improved creativity and learning in physics among the participants.

关键词： Special issues and sections   Robots   COVID-19   Pandemics   Business   Market opportunities   Investment   Humand factors   Social factors   Automation  

摘要： The articles in this special section focus on how the COVID-19 pandemic has and will continue to impact the robotics industry.