轮足复合式救援机器人机构建模与误差分析

为提高轮足复合式救援机器人末端执行器的精度,通过建模将末端可控和不可控的几何误差源分离,指导机构的精度设计和运动学标定。以三自由度(3-DOF)混联机械腿为研究对象,研究少自由度串并混联机构的误差建模方法。首先,基于仿生学原理提出(2-UPS+U)&R串并混联机构,以此为基础设计轮足复合式救援机器人;其次,基于空间向量链方法建立坐标系,分析几何误差源,研究其对末端位置误差的影响;然后,利用统计模型描述该影响,由灵敏度分析结果得出在加工装配过程中必须严格控制万向节和转动关节误差;最后,进行了单腿样机足端点运动轨迹跟踪实验。实验结果证明了上述方法的可行性和正确性。

四足步行椅机器人位置分析及足端点轨迹规划

针对当今社会对助老助残机器人的需求,设计了一种基于4(2-UPS+UP)并联机构的四足步行椅机器人。首先,介绍了该机器人的整体构型及各杆件设计参数,建立了单腿机构的数学模型,求解了该机构的自由度。其次,对单腿机构进行位置分析,计算了其工作空间。最后,在对末端点行走轨迹进行规划的基础上,得出了轨迹曲线函数,并对单腿机构进行实验研究。实验结果表明,机构实际轨迹曲线与理论曲线误差在合理范围内,验证了机构设计的合理性以及轨迹规划的可行性,为四足步行椅机器人的设计与控制提供了理论参考。

轮腿式自动引导小车结构设计与行走步态规划

为了提高自动引导小车在存有障碍物的硬质平坦地面上的工作能力,设计了一种新型的轮腿式自动引导小车,并阐述了小车在不同运动模式下的工作原理。对行走模式下的小车进行了运动学分析,得到足端工作空间。以足端的最大工作范围为前提规划了足端的运动轨迹,同时规划了车体的运动轨迹,并基于静态稳定裕度原理规划了小车整体的行走步态。利用ADAMS软件对该小车进行运动仿真分析,仿真结果表明所规划运动轨迹和行走步态是可行的。

Study of Atmospheric Predictability Based on Periphery Theory

The system periphery （＂jieke＂ in Chinese） is defined as a part of the system and is adjacent to its environment. The periphery is an in- termediary agent between the system and its environment, and has two functions： defending system itself and exchanging with the environment. Generally, the periphery is defined on space dimension. We will investigate the periphery from the time dimension, and study a time jieke based on set theory viewpoint; initial values and forecast lead in weather forecast are clarified. Further predictability of weather forecast on the basis of periph- ery theory is defined; its calculation formulae are given, with which computing for day-to-day forecast were carded out. The results have been com- pared with present researches of atmospheric predictability, and it shows advancing the predictability study. Most interesting is that atmospheric pre- dictability possesses rule of gold ratio 0.618, and it is found firstly in research of weather and climate predictability.