新型4-DOF并联机器人位置和工作空间分析

提出研究新型4-DOF并联机器人的位置和工作空间的问题,利用计算机辅助几何法构造4-DOF并联机器人模拟机构,基于并联机器人的模拟机构,分析出一种4-DOF并联机器人的位置和工作空间。模拟结果表明,计算机辅助几何法的应用不但大大简化了并联机器人机构分析位置和工作空间难度,而且快捷直观,值得推广。

葡萄采摘4-DOF机械臂设计与虚拟样机仿真

为实现篱架式栽培的食用葡萄自动化采摘,设计了一种关节型四自由度(4-DOF)机械臂,并利用DH参数法建立机械臂的连杆坐标系。通过MatLab里的Robotics Toolbox建立机械臂的数学模型,对机械臂的正、逆运动学进行仿真,对末端执行器走直线轨迹进行了轨迹规划。利用ADAMS建立机械臂的虚拟样机,将轨迹规划仿真数据作为驱动,进行动力学仿真,获得夹持2kg葡萄时腰关节、肩关节、肘关节及腕关节所需驱动力矩分别为95、52、48、12N·m,从而为采摘机械臂的物理样机制造与采摘试验提供了技术依据。

Research on the operating characteristics of parallel 4-DOF electric platform with 4TPS-PS structure

The 4TPS-PS parallel platform designed for a stabilization and automatic tracking system is a novel lower-mobility parallel mechanism. In the first part of this paper, the structure of the platform is described and the kinematics model is built. The workspace of the platform is defined as the full reachable rotation workspace when the Z coordinate dimension of the upper plate varies continuously. A fast searching method of the full reachable workspace is presented, after which the inverse kinematics of the platform is deduced. The forward and inverse solutions of the speed and force of the platform are deduced. According to the characteristic of the 4TPS-PS platform’s structure, a fast searching algorithm of the maximum generalized speed and maximum generalized force output by the upper plate is put forward based on the forward and inverse solutions of the platform’s speed and force. The 4TPS-PS platform prototype built by the State Key Laboratory of Fluid Power Transmission and Control of China is taken as the research subject. The full reachable rotation workspace of the prototype is computed out and analyzed. The curves of maximum generalized speed and maximum generalized force of the prototype are computed out and plotted. Finally, the com- puting and analyzing results of the operating characteristics are confirmed through the experiment.

Research of 6-DOF Serial-Parallel Mechanism Platform for Stability Training of Legged-Walking Robot

The concept of legged-robot stability training with a training platform is proposed and a serial-parallel mechanism platform with 6 degrees of freedom is designed for this target. The designed platform is composed of 4-DOF parallel mechanism with spherical joints and prismatic pairs,and 2-DOF serial mechanism with prismatic pairs. With this design,the platform has advantages of low platform countertop,big workspace,high carrying capacity and high stiffness. On the basis of DOF analysis and computation of space mechanism,weight supporting auxiliary mechanism and raceways-balls supporting mechanism are designed,so as to improve the stiffness of designed large platform and payload capacity of servo motors. And then the whole structure design work of the platform is done. Meanwhile,this paper derives the analytical solutions of forward kinematics, inverse kinematics and inverse dynamics. The error analysis model of position and orientation is established. And then the simulation is done in ADAMS to ensure the correctness and feasibility of this design.

基于拉格朗日方程的4-DOF机器人运动分析

以4-DOF串联机器人为例,对影响机器人末端执行器轨迹偏差的各种影响因素进行了分析,同时建立了机器人的误差模型。选取5个任意点作为机器人在搬运物品时的运动轨迹,根据机器人逆运动学来求解方程而得到各个关节的转角变化方程式,计算出机器人的正运动学模型,并通过Matlab仿真得到机器人运动的理论轨迹;应用拉格朗日方程建立机器人的动力学方程,分析了机器人运动时的重力、惯性力影响机器人运动的实际轨迹与理论轨迹的偏差。结果说明,在机器人的设计及制造装配过程中,通过控制结构误差的大小,可以降低机器人在高速运行时的轨迹误差,为不同精度要求的机器人结构设计提供简单、有效的理论支持。

Micro-Scale Motion Precision Simulation Method for a New-Type 6-DOF Micro-Manipulation Robot

A new 6-DOF micro-manipulation robot based on 3-PPTTRS parallel mechanisms in combination with flexure hinges is proposed. The design principle of the mechanism is introduced, and the kinematics analysis method based on differentiation is used to get the (inverse) kinematics equations. Then a micro-scale motion precision simulation method is proposed according to finite element analysis (FEA), and the prediction of robot’s motion precision in design phase is realized. The simulation result indicates that the 6-DOF micro-manipulation robot can meet the design specification.

Trajectory tracking control based on linear active disturbance rejection controller for 6-DOF robot manipulator

The trajectory tracking control for a 6-DOF robot manipulator with multiple inputs and outputs,non-linearity and strong coupling is studied.Firstly,a dynamical model for the 6-DOF robot manipulator is designed.From the view point of practical engineering,considering the model uncertainties and external disturbances,the robot manipulator is divided into 6 independent joint subsystems,and a linear active disturbance rejection controller(LADRC)is developed to track trajectory for each subsystem respectively.LADRC has few parameters that are easy to be adjusted in engineering.Linear expansion state observer(LESO)as the uncertainty observer is able to estimate the general uncertainties effectively.Eventually,the validity and robustness of the proposed method adopted in 6-DOF robot manipulator are demonstrated via numerical simulations and 6-DOF robot manipulator experiments,which is of practical value in engineering application.

平面4自由度欠驱动机器人的位置和姿态控制

基于模糊控制理论,研究水平运动的4自由度欠驱动机器人位置和姿态控制问题。平面4自由度欠驱动机器人是具有冗余度和欠驱动双重特征的复杂二阶非完整系统,利用主动关节和被动关节加速度之间的耦合作用控制被动关节的运动,同时实现机械臂末端的轨迹跟踪和末杆的姿态控制。根据分层控制思想,提出双模态模糊PID复合控制算法,针对两个子任务分别设计控制器。通过Matlab和ADAMS的联合仿真验证算法的有效性,在基于可编程多轴运动控制卡的试验台上实现平面4自由度欠驱动机器人的位置和姿态控制试验。仿真和试验结果表明,所设计的模糊PID复合控制器对平面4自由度欠驱动机器人末杆的位置和姿态控制是可行、有效的。

一种可以实现救援对接的4自由度并联机器人设计方法

笔者设计出一种可以在潜水艇和空间飞行器救援对接中实现对接的 4自由度的并联机器人机构。其中 3个为转动自由度 ,1个为移动自由度。分别用于对接过程中的位置和姿态调节。给出了其设计的基本原则和运动副放置条件。利用螺旋理论分析了设计的正确性 ,证明了它所具有的 4个自由度完全满足设计要求。

基于工业4.0背景下的工业机器人人才研究分析及解决策略

为贯彻落实"中国制造2025"和"互联网+"战略,实现智能制造强国的战略目标,研究分析工业机器人人才需求、健全工业机器人人才培养体系具有重要研究意义。开展了工业4.0战略的深度分析与研究,梳理了工业4.0战略计划与工业机器人人才需求的关系,概括了我国工业机器人使用情况,全面分析了我国工业机器人人才需求。研究探索了工业机器人人才培养策略,提出了我国工业机器人人才培养的理念、目标及多角度系统性的培养体系,可展开推广实施。

Advances in beyond total mesorectal excision surgery: Behind the scenes

The management of locally advanced rectal cancer involving adjacent organs and extending beyond the surgical planes of total mesorectal excision has evolved over the past few decades both in terms of the effectiveness of preoperative treatments and surgical innovation.The use of a robotic platform is increasing,even in complex surgery such as pelvic exenteration together with the advantages of minimally invasive procedures.However,satisfactory surgical,oncological,and functional outcomes are achieved not only minimizing the impact of a demolitive surgery but also when a multidisciplinary specialized team focuses on experienced surgeons,mandatory rules of surgical oncology,appropriate medical treatments,accurate preoperative planning,and an acceptable quality of life.

基于多因子量化选股模型的采摘机器人学习策略研究

首先,基于多因子量化选股模型制定了采摘机器人学习策略;然后,利用多因子量化选股模型对蚁群算法进行了改进,并利用改进的蚁群算法对采摘机器人的路径规划进行了分析与研究。MatLab实验结果表明:此算法为采摘机器人规划了一条长度最短、转弯次数最少的最优路径,移动过程中没有发生碰撞,证明算法对改善采摘机器人移动路径效果明显,使规划的路径更加合理。

基于旋量理论的4-R(SS)~2并联机器人正运动学分析

研究机器人运动学较为传统的方法为D-H参数法,以4-R(SS)2并联机器人为研究对象,基于旋量理论,根据指数积公式对该机器人进行正运动学分析,得到机器人的位姿变换矩阵。旋量法只需要建立惯性坐标系S和工具坐标系T,经过每一个关节变量之间的变换,最终可得到其运动学方程。与D-H参数法相比,此方法使运动学模型变得更为简单,并且具有更明确的几何意义。最后对并联机器人进行运动仿真,构建其仿真模型,确定机器人各结构的参数,输入随机关节变量,得到的结果与文中计算的结果进行对比,验证本文方法的准确性。

Control algorithm based on trajectory and orientation of oblique intersection line welding-cutting robot

Working principle for a four-axis oblique intersection line welding robot is analyzed. A mathematical model for welding torch orientation angle is established, and an interpolation algorithm based on time division is proposed. The algorithm makes all interpolation points fall on a required curve in theory with no accumulated errors and a direct interpolation control on the saddle-shaped curve trajectory and space orientation angle can be achieved. It is shown by MATLAB simulation that the algorithm is real-time and fully meets the precision requirement. The algorithm has been applied to real robots.

Study of Visual Information Acquisition Technology based on AGV Robot

Visual information acquisition is an important component of the AGV robot. The system adopts STM32F4 embedded application of the ARM Cortex-M4 kernel as the main control module,using shift algorithm to finish on a specific color piece of target tracking. For multi-sensor fusion of three methods,quaternion method is used to correct the attitude,the stability of AGV robot visual information acquisition and image clarity are improved.

4-R(2-SS)并联机器人机构积分指数自适应滑模控制研究

为实现4-R(2-SS)并联机器人机构的运动学高性能控制,提出了克服支路间耦合作用和系统不确定性作用的积分指数自适应滑模控制方法。通过建立关节空间动力学模型,求得各支路驱动关节包含耦合惯量的等效惯量,以补偿各支路间耦合作用;通过设计积分指数自适应律,提出并联机器人机构的积分指数自适应滑模控制方法。使用MatLab对所设计的控制算法进行仿真,并将其应用于4-R(2-SS)并联机器人样机,验证了所提出积分指数自适应滑模控制方法的有效性。

基于4自由度的猕猴桃采摘机器人建模设计

猕猴桃的采摘作业是猕猴桃生产业中的一个重要环节。目前,采摘作业主要以人工采摘为主,存在耗时长、工作强度大以及人力成本高等缺点。因此,研究智能、高效的猕猴桃采摘机器人有助于将人从繁重的农业生产中解放出来,提高生产效率。针对棚架式猕猴桃栽培方法和采摘机器人的作业特点,初步建立了基于4自由度的猕猴桃采摘机器人的运动学模型和动力学模型,并以降低能耗为目的进行了采摘轨迹规划。

Research on Embedded Biomimetic Robotics

In this paper, we study a STM32F4 as the core of the bionic design and implementation of embedded mobile robot. Bionic robot based on color sensor TCS3200 contacts surface color data sending instructions, by the PWM wave to control the robot body tricolor LED color to achieve the surrounding color. Proven by a lot of experimental data, the bionic robot designed in this paper possesses the advantages of high stability and high accuracy, and bionic robot has completely independent behavior

基于旋量理论Kane方程的串联机器人动力学分析

为分析4自由度机器人的操作性能并实现对其精确运动控制,利用基于旋量理论的运动旋量及偏速度旋量等概念,建立4自由度串联机器人的指数积正向运动学模型和Kane动力学模型。根据建立的动力学模型,应用Matlab仿真平台研究了机器人各关节从初始位形到准备位形运动时的驱动力矩。通过仿真结果分析,结合了Kane方法和旋量理论的动力学模型具有准确、简单、有效等特点,能够满足机器人的运动学与动力学分析的要求,为机器人的设计改进和精确运动控制实施奠定了理论基础。

基于视觉识别的随动机械臂实验装置设计

为了使机械臂适应智能制造业高灵活度的要求和不断变化的场景需求,该文设计了一套人机结合的实验装置。该装置使用双摄像头采集图像,嵌入式核心模块处理人体手臂动作图像,提取标识点,确认坐标值并将其输入运动数学模型。基于模糊控制理论驱动4个小型直流伺服电机,实现4自由度的机械臂随动功能。该装置可作为机器人工程和智能制造工程等专业的实验教学设施,有助于帮助学生深入理解控制理论,并提高学生的动手能力。