高压线巡检机器人夹抓机构的设计与分析

高压线巡检机器人在越障时主要靠夹抓机构来保证其安全性,基于SolidWorks建立了一种新型夹抓机构的三维模型并计算出最小夹紧力;利用虚拟仿真软件ADAMS对夹抓的开闭速度和电机的输出扭矩进行分析,为夹抓的进一步控制研究提供支持;利用有限元分析软件ANSYS对夹抓应力应变进行分析,结果表明夹抓结构的设计满足机器人在越障时安全性的要求.     

带增力机构的工业机器人手臂末端夹持器

介绍两种带增力机构的工业机器人手臂末端夹持器，以气动系统为动力源，采用基于无杆活塞缸驱动的增力机构驱动杠杆式夹持器，在不增加气缸面积的情况下能大大提高夹持力，满足执行系统的要求。     

两指自适应机械夹持器设计与研究

随着对机械夹持器的研究和使用的深入,夹持器逐渐往多功能、适应性强、拟人化的方向发展。设计了一种机器人末端自适应夹持器,该夹持器为基于单电机的欠驱动系统。利用欠驱动系统的优点并通过机构的设计,使其能够在作业过程中根据被夹持的物体的形状自动调整夹持器姿态,适应不同形状的被夹持件。利用Pro/E建立了夹持器的三维结构模型,并导入ADAMS中建立虚拟样机模型;然后对夹持器虚拟样机模型进行力学仿真分析,获得夹持器的作业范围以及可夹持重量的数据,并和实物样机进行对比,最终达到预期效果和目的。     

三臂机器人在轨动力学仿真

根据航天机器人太空作业的需要,设计了三臂机器人简化模型,应用D-H方法建立了坐标变换矩阵,推导了该机器人的运动学方程。基于ADAMS虚拟样机技术,分别在三种重力场环境下,对机器人的爬杆过程进行仿真,得到了机械手攀爬过程受力曲线,分析了影响机械手夹持力的主要因素,从而为这类机器人的设计提供参考。     

基于SMA驱动的仿尺蠖钩爪式软体末端夹持器研究

为适应软体攀爬机器人操作任务及环境的多样性,受尺蠖钩爪启发,提出一种基于形状记忆合金(SMA)弹簧驱动的钩爪式软体末端夹持器。介绍了夹持器设计理念及制造过程,并通过实验验证了其突出的适应能力。实验结果表明:该夹持器能产生9.1N的夹持力,相当于其自身重力的10倍,能稳定附着于不同的物体表面,能保证软体攀爬机器人在不同姿态下的作业。     

丝杆移动型爬杆机器人的机构设计与分析

夹持式机器人已成为主要的攀爬机器人,其两端手臂对攀爬对象夹持的安全性与可靠性是机器人重要的前提条件。丝杆移动型爬杆机器人的攀爬过程分为手臂台升降、身体复位和绕杆检测三个阶段。首先对机器人前两个阶段的丝杆进行受力分析,确定整机设计参数;再通过ADAMS对机械臂与杆的夹持过程进行动力学分析,根据机械手加速度曲线优选最佳受力时间,进一步分析各杆的角加速度,确定整机的可靠性;最后将机械臂简化为梁单元,进行有限元非线性屈曲分析,验证梁的安全性,并对携带传感器的机械臂进行优化,减轻重量。     

巡检机器人行走夹持机构夹持力计算

由于重力影响使得机器人车体水平姿态发生倾斜，通过质心调节，可以保证车体水平，但由于控制系统存在误差，使得质心不可能正好落在单轮支撑点上，导致机器人车体在单轮悬挂时出现晃动。为此，提出了一种新的机器人行走夹持机构，这种机构采用轮爪复合，便于行走和越障。在分析了机器人车体发生晃动的原因之后，给出了夹持力计算公式，并对夹持机构抑制车体晃动的夹持力进行了计算，为夹紧电机的选取提供了理论依据。     

微创外科手术器械末端执行器夹持力建模与分析

针对主从微创外科手术机器人同一主手控制不同手术器械在相同开合角度下的夹持力安全问题,研究了手术器械末端执行器的夹持力,建立了一种求解末端夹持力的数学模型.所建立的模型考虑了钢丝绳与导向轮之间的非线性摩擦、指部与腕部的运动耦合以及钢丝绳在导向轮上的蠕动变形对夹持力的影响,得到了在相应开合角度下电机电流与手术器械末端执行器夹持力之间的映射关系;同时,对缝合针所受夹持力进行了受力分析,得到末端执行器对缝合针的夹持力以及末端执行器对缝合针的拉拔力与电机电流之间的关系.通过Matlab对夹持力模型进行仿真研究,得到手术器械末端执行器在考虑和不考虑摩擦与变形情况下的夹持力变化曲线,特别是得到了对缝合针的夹持力和拉拔力随电流变化的曲线图.仿真结果表明,所建立的夹持力数学模型更贴近实际情况,为后续有效和安全夹持力控制提供了理论依据.     

基于柔性铰链的二级放大微夹持器的研究

微夹持器是微装配系统的关键部件,设计了一种以柔性铰链为基础的二级位移放大机构的夹持器,该夹持器由压电陶瓷驱动。计算了夹持器的放大倍数和柔性铰链的节点应力,并对夹持器的最大张合量、放大倍数、夹持力和刚度进行有限元仿真分析。分析结果表明:夹持器的结构设计满足实际应用要求,对实现微小零件的自动装配有实际意义。     

巡检机器人行走夹持机构夹持力计算

由于重力影响使得机器人车体水平姿态发生倾斜,通过质心调节,可以保证车体水平,但由于控制系统存在误差,使得质心不可能正好落在单轮支撑点上,导致机器人车体在单轮悬挂时出现晃动.为此,提出了一种新的机器人行走夹持机构,这种机构采用轮爪复合,便于行走和越障.在分析了机器人车体发生晃动的原因之后,给出了夹持力计算公式,并对夹持机构抑制车体晃动的夹持力进行了计算,为夹紧电机的选取提供了理论依据.     

Biped walking robot based on a 2-UPU+2-UU parallel mechanism

Existing biped robots mainly fall into two categories： robots with left and right feet and robots with upper and lower feet. The load carrying capability of a biped robot is quite limited since the two feet of a walking robot supports the robot alternatively during walking. To improve the load carrying capability, a novel biped walking robot is proposed based on a 2-UPU＋2-UU parallel mechanism. The biped walking robot is composed of two identical platforms（feet） and four limbs, including two UPU（universal-prismatic-universal serial chain） limbs and two UU limbs. To enhance its terrain adaptability like articulated vehicles, the two feet of the biped walking robot are designed as two vehicles in detail. The conditions that the geometric parameters of the feet must satisfy are discussed. The degrees-of-freedom of the mechanism is analyzed by using screw theory. Gait analysis, kinematic analysis and stability analysis of the mechanism are carried out to verify the structural design parameters. The simulation results validate the feasibility of walking on rugged terrain. Experiments with a physical prototype show that the novel biped walking robot can walk stably on smooth terrain. Due to its unique feet design and high stiffness, the biped walking robot may adapt to rugged terrain and is suitable for load-carrying.     

基于虚拟样机技术的攀爬机器人仿真分析

随着攀爬类机器人技术的不断发展,对能够攀爬复杂三维钢架结构的机器人的需求日益增多。针对一种带脚钉的特殊钢材塔架,提出了一种气动攀爬机器人本体设计方案。利用SolidWorks建立设计方案的三维模型,将其导入Adams中建立虚拟样机模型,并进行运动学及动力学的仿真,测量分析了重要的动力学参数,并运用Adams的二次开发技术,追踪了机器人模型总质心的坐标轨迹。验证了方案的可行性,研究了其运动及动力学性能,为物理样机的研制提供了重要的理论依据。     

工业机器人夹持器机构的研究

本文分析了工业机器人夹持器机构的研究现状，提出了解决夹持器机构通用性和专用性矛盾的若干措施，并设计了一种可控制夹紧力的多功能爪型夹持器。     

爬壁机器人研究现状及发展趋势

爬壁机器人是指能够依附在物体的表面进行多自由度移动并完成作业的机电系统，特别适用于执行特殊任务，因而具有良好的应用前景和广泛的市场需求。根据黏附机理的不同，爬壁机器人可分为负压吸附、静电黏附、仿壁虎干黏附、仿生湿黏附等类型。从黏附机理、应用范围以及黏附特点三个方面概述了爬壁机器人领域的国内外研究现状，为统一分析比较不同种类爬壁机器人的负载性能，提出基于比黏附能密度的机器人整体黏附性能分析方法，并为解决其大负载和小体积之间的矛盾提出新的材料和结构设计思路，分析微型爬壁机器人在航空发动机故障检测领域的应用前景，总结出其在材料智能化、驱动新型化、体积小型化和黏附机理协同化等方向的发展趋势。     

Biped Robot with Triangle Configuration

A new biped robot with a triangle configuration is presented and it is a planar closed chain mechanism.The scalability of three sides of the triangle is realized by three actuated prismatic joints.The three vertexes of the triangle are centers of three passive revolute joints coincidently.The biped mechanism for straight walking is proposed and its walking principle and mobility are explained.The static stability and the height and span of one step are analyzed.Kinematic analysis is performed to plan the gaits of walking on an even floor and going upstairs.A prototype is developed and experiments are carried out to validate the straight walking gait.Two additional revolute joints are added to form a modified biped robot which can follow the instruction of turning around.The turning ability is verified by experiments.As a new member of biped robots,its triangle configuration is used to impart geometry knowledge.Because of its high stiffness,some potential applications are on the way.     

Part grasping for automated disassembly

A robot grasp synthesis algorithm for automated disassembly is presented. The goal is to select grasping points in each part to be disassembled so that a previously planned disassembly sequence can be performed holding the parts firmly and avoiding collisions. The algorithm is structured in five steps in order to make it general enough to cope with different robot grippers and different geometrical data (2D or 3D). The system is learning based, and behaviour rules are automatically extracted from grasping examples given by the user, using mainly decision trees and nearest neighbour techniques. Some simulation experiments have been carried out and results with a two fingered robot gripper are presented.     

仿生直立双足机器人的稳定性控制算法

仿生直立双足机器人共有7个旋转自由度,对其稳定性控制是保证双足机器人稳定行走和姿态变换的关键。传统方法中对仿生直立双足机器人的稳定性控制采用二自由度超外差控制方法,对直立双足机器人抓握和操控的运动规划效果不好。提出一种基于末端效应逆运动学分解的仿生直立双足机器人的稳定性控制算法,构建了仿生直立双足机器人运动学结构模型,采用末端效应逆运动学分解方法对机器人的运动学模型进行七自由度重构,在重构的运动学状态空间中实现仿生直立双足机器人稳定性控制,实现控制算法改进。仿真结果表明,采用该算法进行机器人稳定性控制,机器人行走过程中各个机构部件具有稳定运动学参量的输出,仿生双足机器人的控制机构参数仿真结果与理论值在一定的波动范围内相符,保证了机器人在行走和各种行为动作实施过程的姿态稳定性。     

双足欠驱动机器人能量成型控制

研究欠驱动双足机器人在3D空间稳定行走控制器。建立双足机器人的3D动力学模型,通过构建概循环拉格朗日函数,把欠驱动双足机器人的3D动态系统解耦成前向和侧向部分。针对前向2D欠驱动部分设计势能成型和动能成型控制器,为了求解能量成型控制器,将匹配方程分解成分别与角度和角速度相关的两个子条件,再将非线性偏微分方程变为线性偏微分方程,求解出能量成型控制器对前向行走进行控制,使前向行走获得稳定且具有仿生特点。对侧向部分采用零动态控制,在保证侧向稳定同时,还满足系统的动态解耦条件。对不同步长行走进行仿真试验,仿真结果表明,动态步行收敛于稳定的极限环,步态符合仿生规律,验证了所提出理论的可行性和有效性。     

Optimal locomotion trajectory for biped robot ‘D<Superscript>2</Superscript>’ with knees stretched,heel-contact landings,and toe-off liftoffs

Most of the current biped robots with active revolute joints walk with their knees bent while a human walks without bending his or her knees in “natural” gaits. This paper proposes a method to generate natural locomotion trajectory for biped robots without bending knees based on a 2-DOF model of an inverted pendulum. In addition to the natural leg motion, this paper proposes a foot trajectory that has heel-contact landing and toe-off liftoff phases similar to the human foot. The trajectory is parameterized and optimized with a genetic algorithm based on energy consumption. In simulation of locomotion of biped robot, D², which has a double deck structure of parallel mechanisms, the resulting trajectory looks natural and requires approximately 28% less energy than the one generated by the LIPM method. In addition to proposing the method to generate trajectory for a biped robot, this paper introduces the mechanism of serially linked parallel-mechanism for a biped robot with knees.     

A survey of climbing robots: Locomotion and adhesion

Climbing robots are robotic systems to move over 2D or complex 3D environments such as walls, ceilings, roofs, and geometric structures and to conduct various tasks. They will not only replace human workers for carrying out risky tasks in hazardous environments, but also increase operational efficiency by eliminating the costly erection of scaffolding and staffing costs. Climbing robots have special characteristics and the ability to adhere to different types of 2D or 3D surfaces, move around, and carry appropriate tools and sensors to work, while self-sustaining their bodies. Therefore, the most significant criterion for designing a climbing robot is to equip it with an appropriate locomotive and adhesion mechanism for adapting to the given environmental requirements. In this paper, a classification of climbing robots and proper examples with a brief outline are presented with considerations of the locomotive and adhesion mechanisms. Also, a list of climbing robots is provided with respect to fields of application that range from cleaning tasks in the construction industry to human care systems in the biomedical service industry.