关键词： 机器人学导论   应用型人才   实践教学能力   教学质量  

摘要： 机器人学导论是应用型人才培养模式下的一门专业课程,提高该课程的实践教学能力与教学质量,能提高学生的学习兴趣,提高教师的教学工作质量。结合该课程当前教学过程中存在的问题,提出改进方法,提高教学质量。

关键词： 工业机器人   技能人才   技能大赛  

摘要： 20 世纪 90 年代，随着计算机技术、智能技术的进步和发展，第二代具有一定感觉功能的工业机器人已经实用化并开 始推广，具有视觉、触觉、高灵巧手指、能行走的第三代智能机器人相继出现并开始走向应用。我国 2015 年初提出了“中国制 造 2025”的宏大计划。机器人为十个重点发展领域之一其应用将会越来越广泛，随着产业进步越来越多的企业急需大量的工业机 器人方面的人才。工业机器人专业在各大中专院校应运而成。在技能人才培养方面，全国各技工学校秉持全面落实《国家职业教 育改革实施方案》和《职业教育提质培优行动计划（2020-2023 年）》，将技能大赛、职业技能鉴定制度试点等与日常教学有机结 合，推动学校专业、课程建设和人才培养模式改革创新。因此自 2017 年开始，工业机器人技术应用竞赛逐渐在全国展开，如何培 养优秀的工业机器人技能人才成为每个院校的新课题。

关键词： 空间柔性闭链机器人   刚柔耦合   振动分析   频率响应   动力学  

摘要： 空间闭链机器人的柔性连杆在高速运行状态下产生的弹性变形对系统振动效应具有重要影响。为准确分析柔性连杆对空间柔性闭链机器人振动特性的影响,采用有限单元法对柔性构件进行离散,基于浮动坐标系法描述构件位移场,最后通过Lagrange方程建立空间刚柔耦合闭链机器人动力学模型及振动方程,并分析系统固有频率和振型函数。基于同等参数,利用ADAMS/Vibration模块建立了空间刚柔耦合闭链机器人的自激振动仿真模型,研究系统固有频率和对应模态的变化,以及不同激振力作用下的频率响应特征。结果表明:理论模型和仿真模型的动平台运动轨迹基本一致,并且理论模型与振动仿真模型的固有频率也具有一致性,验证了振动仿真模型建立的正确性。随着激振力幅值的增大,系统响应增强。同一激振频率动平台质心处Y方向响应最大,X方向次之,Z方向最小。其中,系统第11、12阶模态对应的系统变形量最大,对应的激振频率为40~60 Hz。

摘要： 由云南省楚雄州科协、楚雄州教育体育局主办,楚雄州科技馆、楚雄州机器人协会承办的楚雄州第二届青少年科技创新大赛机器人竞赛近日在楚雄州宾馆成功举办.云南省青科中心主任贾兴勇、楚雄州教育体育局副局长许华荣、楚雄州科协副主席倪勇出席大赛开幕式.来自全州20所学校的71支参赛队,152名参赛选手、教练员同台竞技.

关键词： 自由漂浮空间机器人   多目标规划   轨迹规划   动力学RRT*   障碍规避  

摘要： 针对自由漂浮空间机器人(FFSR)轨迹规划问题,提出了一种基于动力学RRT^(*)算法的FFSR轨迹规划方法。首先,建立了FFSR的运动学与动力学模型,将系统模型伪线性重构为状态空间模型,并设计了考虑位姿调整时长和能量消耗的加权目标函数;然后,针对机械手初末位置间的障碍,简化避障方法,提出了机械臂避障与机械手避障两层次避障策略,提高碰撞检测效率;接着,给出了多体系统的动力学RRT*逼近最优轨迹的方法;最后,为验证算法有效性并不失一般性,选取平面2连杆FFSR模型进行数值仿真并用经典RRT^(*)算法和高斯伪谱法与之对比。仿真结果表明,该方法能够以较快的速度生成可行的机器人移动轨迹。

关键词： 新工科建设   校企合作   协同育人   应用型教学   机器人学课程  

摘要： 新工科背景下要求高校培养高素质复合型高科技实践人才,而校企协同育人是实现该目标的有效措施。针对目前协同育人案例中存在的不足之处,本文以机器人学课程的应用型教学为例,理清高效校企协同育人模式的建设思路,并基于该思路进行机器人学课程改革与探索,提出具体可行并已经被验证的实施措施,完善新工科实践教学知识体系,从而培养出“厚基础、宽口径、重实践、富创新、敢创业”的高素质复合型人才。

关键词： Fish   Propellers   Unmanned underwater vehicles   Robot sensing systems   Swarm algorithms   swarm behaviors   swarm robotics   underwater robotics   underwater communication  

摘要： As technology advances, the places we have been able to explore have drastically increased. However, the advancements in the underwater realm have staggered behind both the exploration of surface and air domains. This is due in part to the challenges that arise when placing a robot in water. One current shift has seen the use of a swarm of robots that are cheaper and are of a lower quality, that work together to accomplish a common goal, as opposed to using a single expensive robot. Swarm robotics benefits from being more tolerant of catastrophic failure and can cover large areas in smaller time frames. However, unlike other advancements in technology, underwater swarm robotics have struggled to compete with its counterparts on the surface and in the air. This is mainly due to the problems with communication underwater, the hazardous environment, the cost and difficulties with construction of underwater robots. This article conducts a literature review into the current state of underwater swarm robotics;it covers the design of the underwater robots, the methods used by the individual robot to perceive their environment, how they can localize to said environment, the methods of communication available underwater, centralized and decentralized control, the basis of swarm algorithms, the behaviors that are exhibited when a swarm works collectively and how swarms have been applied underwater.

关键词： 喷涂机器人   动力学   仿真分析   ADAMS  

摘要： 要对机器人实施精确控制,首先必须对机器人进行动力学研究,建立机器人的动力学模型。以某公司提供的某型六轴喷涂机器人为研究对象,基于多自由系统动力学理论基础,建立机器人的动力学模型并进行了大量的理论计算。然后采用ADAMS建立虚拟样机进行仿真,通过仿真分析获取了一系列的重要结果,为优化机器人结构提供有价值的数据信息。

关键词： Wireless communication   Protocols   Robot kinematics   Aperture antennas   Complexity theory   Antenna radiation patterns   Antenna arrays  

摘要： Driven by their versatility and autonomy, advanced unmanned aerial systems have indicated substantial promise along the development of current communication networks, as well as in support of new communication platforms. The resulting integration of robotic and communication systems brings increased levels of complexity, which cannot be modeled accurately by conventional approaches. An example of this are aerial synthetic aperture antennas, in which an aerial robotic swarm coordinates their flight patterns and communication exchanges to produce a synthetic aperture. The accurate representation of such a system mandates the careful simulation of wireless communications, antenna radiation patterns, flight dynamics, and even environmental conditions. This article details an integrated communications and robotics simulation framework, which enables the assessment of these emerging systems. The benefits of this new approach are illustrated for the aerial synthetic aperture antenna example, but extend to a wide array of problems stemming from the union of communications and robotics. This novel modeling platform makes it possible to design and analyze joint flight and communication protocols for unmanned aerial systems. The obtained results provide valuable insights into the operation of swarm-based synthetic aperture antennas. Moreover, the methodology introduced in this work is flexible and can be readily applied to other instances of joint communication and robotic systems.