两足步行椅机器人的设计与研究

介绍了一种两足步行椅机器人机械系统和控制系统的硬件设计,分析了载人两足机器人与一般两足机器人在安全性、载重量和干扰方面的不同.并通过计算机仿真技术提高了设计的效率和可靠性,从而降低了系统级开发风险.     

双臂机器人柔性抓持的力位约束分析

当机器人双手装上力传感器之后,机械手末端组合刚度对系统稳定性影响较大.本文针对这种情况,采用类似阻抗控制的方法,从控制的角度将机械手末端等效为一个 MSD(mass-spring-damper)系统来控制,建立了完整的关于双臂机器人柔性抓持的力位约束描述.     

高职工业机器人技术专业人才培养模式研究与实践

机器人及智能装备产业的飞速发展需要大量工业机器人应用人才,在总结现有不同专业人才培养模式特征基础上,针对工业机器人技术专业人才培养的特点,提出了一种"项目引领、岗位实境"工学结合人才培养模式,经过三年的实施,取得了良好的效果,有效培养高质量的工业机器人应用人才。     

Person Recognition from Dynamic Events: The Kinematic Specification of Individual Identity in Walking Style

Three experiments used Johanssons [Perception and Psychophysics, 14, 201–211 (1973)] point-light technique to investigate, whether observers could correctly recognize others from their natural and deceptive walking styles based solely on the kinematic pattern produced when walking. Participants watched pairs of video-clips of unknown young male actors and judged whether the video-clips in each pair were from the same actor or not. The pairs of video-clips consisted of one clip of an actor walking naturally across a room and one clip of an actor attempting to walk deceptively (attempting to make themselves appear considerably older than they actually were). The results from Experiments 1a and 1b demonstrated that participants were fairly accurate at recognizing when the actors in the two video-clips were the same and when they were different. In addition, an invariant of walking style (weight shift) was shown to be an important kinematic feature for the identification of walkers. Experiment 2 demonstrated that those walkers whose weight shift differed between their natural and their deceptive walk were more effective in deceiving observers about their true identity than those whose weight shift was the same in the two walks. The results are discussed in relation to the kinematic specification of identity, and the production and perception of deceptive intent.Experiment 1 was completed as partial fulfillment of the requirements for Part 1 of an MSc (Hons) by the first author. This research was conducted with the financial assistance of University of Canterbury Research Committee Grant #U6279. Thanks are extended to Dean Owen, Rebekah Gunns & Kerry Marsh for their insightful comments.     

Victim Selection and Kinematics: A Point-Light Investigation of Vulnerability to Attack

Three experiments used a point-light methodology to investigate whether movement style specifies vulnerability to physical attack. Both female (Experiment 1) and male (Experiment 2) walkers could be differentiated according to ease-of-attack based solely on the kinematic information provided whilst walking. Specific walking style features predicted ease-of-attack and profiles of prototypically easy to attack and difficult to attack walkers were identified. Variations in walking style as a function of clothing and footwear style were also shown to predict differences in ease-of-attack ratings (Experiment 3). Theoretical and practical implications of these findings are considered.     

步行机器人缩放式腿机构参数的选择法

本文从机构传动性能的角度出发,对步行机(亦称步行机器人)缩放式腿机构与足的运动空间进行了分析,给出了当足的实用运动空间为最大时,机构参数的确定方法。     

机器人的視觉信息处理

本文介绍一种机器人视觉信号处理系统。系统采用了图象模糊增强、将文字图形投影的快速傅氏变换及转动惯量作为识别特征,且根据模板匹配法实现模式识别,初步的实验结果是令人满意的。     

阀门喷涂机器人的轨迹规划与优化求解

为对特定阀门工件的外表自由曲面进行精确喷涂,提出以阀门外形尺寸和机器人本体结构为约束条件,对喷涂 机器人的工作空间进行了合理优化。利用MATLAB对多变量有约束非线性函数优化求解,得到了机器人主连杆杆长以 及相应的关节转角范围;对阀门进行了参数描述,并建立喷涂轨迹路径数学模型;通过基于ADAMS的虚拟样机建模、运 动仿真和MATLAB数值求解的相互协同和相互验证,得到了合理的关节角逆解。通过优化后的逆解进行仿真喷涂验证 了轨迹规划和优化求解方法的合理性。     

柴达木盆地断裂发育特征及其动力学机制探讨

以精细地震解释为依托,以平衡剖面技术为手段,对柴达木盆地的地质发展演化史及在不同构造动力学背景下形成的断裂构造系统进行了分析。分析表明,在“挤压+走滑”的区域应力场作用下,柴达木盆地形成北部、南部和西北部3大挤压走滑断裂系统,断裂以逆断层和走滑断层为主,并伴有少量的同沉积正断层、滑脱断层、反转断层等。平衡剖面复原表明,柴达木盆地断裂的形成演化主要有3类模式：（1） 断裂在中新世（N1）定型;（2） 断裂在上新世(N2)—第四纪(Q)期间发育形成;（3）在盆地形成演化过程中一直都在活动的长期发育的断裂。这些断裂的生成和发展经历了侏罗纪的扩张、古近纪的初步挤压反转、新近纪大幅度逆冲走滑、第四纪最终定型等阶段。     

Throughput Optimization in Constant Travel‐Time Dual Gripper Robotic Cells with Parallel Machines

Constant travel‐time robotic cells with a single gripper robot and with one or more machines at each processing stage have been studied in the literature. By contrast, cells with a dual gripper robot, although more productive, have so far received scant attention, perhaps due to their inherent complexity. We consider the problem of scheduling operations in dual gripper robotic cells that produce identical parts. The objective is to find a cyclic sequence of robot moves that minimizes the long‐run average time to produce a part or, equivalently, maximizes the throughput. We provide a structural analysis of cells with one or more machines per processing stage to obtain first a lower bound on the throughput and, subsequently, an optimal solution under conditions that are common in practice. We illustrate our analysis on two cells implemented at a semiconductor equipment manufacturer and offer managerial insights for assessing the potential productivity gains from the use of dual gripper robots.