共查询到20条相似文献,搜索用时 151 毫秒
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设计了一种由多个模块构成的蛇形管道打磨机器人,各个模块之间可以快速拆装,其中驱动模块为机器人在管道中前行提供动力牵引.该机器人可以主动适应内径为250 mm~450 mm的直管道、弯管道及其组合管道,可以在管道内部实现以打磨作业为主的作业功能.同时,提出了适用于蛇形管道打磨机器人自身过弯管的速度模型,通过对机器人的力学分析得出各个模块之间相互作用力的计算方法及影响机器人在管道内部转体运动发生的因素.在ADAMS软件中进行了虚拟样机仿真验证,初步验证了蛇形管道打磨机器人的通过性并得出机器人在管道内部前行的最佳匹配.最后,搭建了实验平台,制作了机器人真实样机,验证了机器人对内径为250 mm~450 mm管道的适应性、通过性及作业效果. 相似文献
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针对石油、天然气、化工等管道的故障检测与定位,研制了一套带有可动摄像头的高性价比的轮式管道机器人。系统以STC12LE5A16S2单片机为处理核心,以基于PELCO-D协议的三维云台控制键盘作为操控单元、以RS485作为通信协议,以SM-S4315R舵机为动力源,采用输出比较的算法产生高分辨率的PWM控制脉冲,提高了舵机控制的平滑性和连续性;以基于查表匹配结合分段匹配的差速转向策略实现机器人的万向协调运动的控制,提高了系统操控的便捷性和运行的稳定性。样机的测试表明,管道机器人操控灵活、运行稳定、携带方便,在小型管道机器人领域具有较大的应用价值和推广空间。 相似文献
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为解决柔性蠕动管道机器人的运动控制问题,提高机器人管内行走效率,对一种具有导向头和刹车轮结构的柔性蠕动管道机器人进行了深入分析和研究.通过对机器人进行管内受力分析,建立起机器人的牵引力模型;为提高机器人在不同管道环境中的运动性能,对软轴结构的运动稳定性进行了分析,提出了机器人蠕动运动失稳的概念,并采用长柱体的稳定性理论进行分析,推导出机器人在直管和L型管道中的临界失稳条件,为柔性蠕动管道机器人步距规划提供了理论依据.搭建管道实验环境进行机器人的牵引力和行走实验,测试值与理论分析基本一致,说明柔性蠕动管道机器人具有优良的牵引能力,行走过程中的运动失稳现象也验证了软轴临界失稳理论的正确性. 相似文献
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管道机器人在弯道处通过性的研究 总被引:16,自引:2,他引:16
提出了一种描述管道机器人弯道通过性的数学模型,该模型由一组组合约束构成.通过对约束方程的分析讨论,得出了规律性的结论.管道机器人在弯道处的姿态、单元体的几何尺寸、行走轮结构形式对其通过性都有不同程度的影响.所提出数学模型是管道机器人弯道自主行走控制策略设计和相应结构设计的理论基础. 相似文献
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王慧东 《自动化技术与应用》2009,28(12):131-134
本设计针对工业现场使用的双关节机器人,主要完成了硬件系统平台构建和软件系统的设计。应用单片机技术,设计一款主从操作的控制器,能够根据旋转编码器的控制指令精确的控制电机的速度、位置、正反转等物理量,从而满足机器人操作臂精确位置伺服驱动的要求。 相似文献
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Introducing Climax: A novel strategy to a tri-wheel spiral robot 总被引:1,自引:0,他引:1
This paper describes a prototype and analytical studies of a tri-wheel spiral mobile robot. The robot can reach any desired point with a sequence of rotational movements. The robot has a simple actuation mechanism, consisting of three wheels mounted on a platform with axes fixed in 120° and a motor connected to each. Our approach introduces several new features such as simple repeated sequence of commands for steering and spiral motion, versus direct movement to target. The mathematical model of the robot is discussed, and a steering method is developed to achieve full motion capabilities. For a number of missions, it is shown experimentally that the proposed motion planning agrees well with the results. 相似文献
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Skinner 操作条件反射的一种仿生学习算法与机器人控制 总被引:1,自引:0,他引:1
针对两轮自平衡机器人的运动平衡控制问题,提出了基于Skinner 操作条件反射理论的BP 神经网络
与资格迹相结合的仿生自主学习算法作为两轮机器人的学习机制.该算法利用资格迹能解决延迟影响、加快学习速
度和提高可靠性的特点,将其与BP 神经网络相结合构成复合学习算法,能够预测机器人将要获得的行为评价函数,
并依据概率取向机制以一定的概率选择最大评价值对应的最优行为,从而使机器人能够在未知环境下通过与环境的
交互、学习和训练,获得像人或动物一样的自主学习技能,实现对两轮机器人的运动平衡控制.最后,分别用基于
Skinner 操作条件反射理论的BP 算法和BP 资格迹复合算法对两轮机器人做了仿真实验并进行了比较.结果表明,
基于Skinner 操作条件反射理论的BP 资格迹复合仿生自主学习算法的学习机制能够使机器人获得良好的动态性能
和较快的学习速度,体现了机器人较强的自主学习技能和平衡控制能力. 相似文献
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Tetsushi Kamegawa Taichi Akiyama Satoshi Sakai Kento Fujii Kazushi Une Eitou Ou 《Advanced Robotics》2020,34(2):132-139
AbstractIn this study, we propose a new robot system consisting of a mobile robot and a snake robot. The system works not only as a mobile manipulator but also as a multi-agent system by using the snake robot's ability to separate from the mobile robot. Initially, the snake robot is mounted on the mobile robot in the carrying mode. When an operator uses the snake robot as a manipulator, the robot changes to the manipulator mode. The operator can detach the snake robot from the mobile robot and command the snake robot to conduct lateral rolling motions. In this paper, we present the details of our robot and its performance in the World Robot Summit. 相似文献
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Dong-Hyuk Lee Hyungpil Moon Ja Choon Koo Hyouk Ryeol Choi 《International Journal of Control, Automation and Systems》2013,11(1):127-135
This paper presents a map building method for an in-pipe robot to navigate inside urban gas pipelines autonomously, whose configuration is unknown or partially known. In the first, we explain the reason why the navigation in the pipeline is difficult and then, present a method for obtaining a robot’s posture by using a pipeline’s unique geometrical features. The robot can obtain its heading direction by detecting the standardized geometries of pipe elements. Based on the method, we propose a robot controller consisting of discrete and continuous controllers. The discrete controller is activated by pre-defined events and generates appropriate paths for exploration. The continuous controller receives the desired path and physically moves the robot to the desired path. The method is implemented in an in-pipe robot, called MRINSPECT-V and its effectiveness is validated. 相似文献
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In this paper, we present a strategy for fast grasping of unknown objects by mobile robots through automatic determination of the number of robots. An object handling system consisting of a Gripper robot and a Lifter robot is designed. The Gripper robot moves around an unknown object to acquire partial shape information for determination of grasping points. The object is transported if it can be lifted by the Gripper robot. Otherwise, if all grasping trials fail, a Lifter robot is used. In order to maximize use of the Gripper robot’s payload, the detected grasping points that apply the largest force to the gripper are selected for the Gripper robot when the object is grasped by two mobile robots. The object is measured using odometry and scanned data acquired while the Gripper robot moves around the object. Then, the contact point for calculating the insert position for the Lifter robot can be acquired quickly. Finally, a strategy for fast grasping of known objects by considering the transition between stable states is used to realize grasping of unknown objects. The proposed approach is tested in experiments, which find that a wide variety of objects can be grasped quickly with one or two mobile robots. 相似文献
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Kinematic and dynamic analysis of a parallel robot consisting of three planarly actuated links, is presented in this paper. Coordinated motion of three planar motors, connected to three fixed-length links, produces a six-degrees-of-freedom motion of an output link. Its extremely simple design along with much larger work volume than the commonly used parallel robots make this high performance-to-simplicity ratio robot very attractive. Experimental model verifies the unique combination of large work volume and high accuracy of this robot. 相似文献
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A transputer-based robot control system was designed and built to control an industrial robot PUMA 560. The goal was to develop a research tool for the investigation of practical and theoretical aspects of various advanced control strategies in the robot system. A transputer network consisting of thirteen transputers is employed for the application, where the parallelization of the algorithms is utilized for speeding up the computation. The kinematics, path planning and a collision avoidance module associated with a vision system are implemented on the network. Six joint controller modules were designed and constructed to handle input/output signals from the joint motors of the robot manipulator. The advanced multitransputer structure is capable of integrating the extern sensor information in a simple way and implementing control algorithms in parallel processes. For Software development, the parallel programming language Occam is used. The code development is performed on an IBM-PC-based toolset system. 相似文献