基于惯性冲击原理的3DOF微小型机器人系统

提出一种由4组压电陶瓷驱动器驱动的微小型移动机器人系统.基于惯性冲击原理,4组压电陶瓷驱动器在不同形式锯齿波电压的驱动下,能够实现机器人2个平动运动自由度和一个旋转运动自由度.基于DDS波形发生原理,为机器人设计了由C8051F040高速单片处理器、FPGA和功率放大器所构成的机器人驱动控制系统.机器人运动性能测试试验表明,提出的微小型移动机器人统具有亚毫米级的运动速度和亚微米级的运动分辨力,可以作为微操作系统中的移动式精密定位机构.     

基于FPGA的移动机器人视觉系统

移动机器人导航技术是智能机器人研究领域的一个重要方向,也是智能机器人的一项关键技术.近几年来,随着图像处理技术及计算机处理能力的飞速发展,加之视觉信号具有信号探测范围宽、获取信息完整等优点.视觉导航成为移动机器人导航的主要发展方向之一.本文首先阐述机器人视觉导航系统的发展过程.在分析了移动机器人的基础上,提出了视觉导航系统的嵌入式实现方案,并设计了电路系统.     

基于红外定位的微小型自重构移动机器人

为了提高微小型移动机器人的作业能力,提出了一种模块化的微小型自重构移动机器人系统。系统中每个单元机器人既可以作为动力单元,拖动其他机器人进行探测,也可以独立成为通信节点,扩大系统的通信范围。单元机器人由中央处理模块、通信模块、驱动模块、对接模块和定位模块组成。多个单元机器人可以彼此对接构成组合机器人。为了实现微小型化,设计了基于红外信号强度的定位方法。并针对现有对接技术的不足,结合电磁式重构机构与机械式重构机构的优势,提出一种新型的自动对接方法。最后进行了机器人之间的对接实验,实验结果证明了机器人设计的合理性。     

无线微小型机器人及其驱动控制

研制了一种面向微操作的微小型机器人,并开发了其无缆化控制系统。该机器人机械本体由基于宏／微复合驱动的移动定位平台和3自由度球基微操作器构成。机器人总体尺寸不超过90 mm×70 mm×60 mm。机器人的宏动部分采用轮式驱动,选用轴直径为3 mm的微型电动机,运动速度可达100 mm／s,定位精度0．5 mm,运动分辨率0．1mm。微动部分基于尺蠖蠕动原理通过压电陶瓷和电磁体配合,速度可达200μm／s,定位精度50μm,运动分辨率2 μm。球基微操作器基于黏滑原理利用3根四分压电陶瓷管驱动,可实现旋转和俯仰运动,运动分辨率可达0．001。。所有驱动电路均集成到机器人本体内,采用锂聚合物电池供电,通过蓝牙模块和上位机的图像处理系统通信。嵌入式控制软件将机器人的运动全部分解为简单运动,控制算法采用多线程方式,保证了驱动控制的实时性,并且具有很强的抗干扰能力。     

基于ARM移动机器人视觉系统的设计

在嵌入式ARM+Linux平台开发了基于ARM移动机器人的视觉系统,使移动机器人脱离PC机平台,因此,机器人运动相对方便,运动范围也相对扩大.视觉系统的软件实现基于OpenCV,使系统开发方便,开发周期短.视觉系统可通过实时获取和处理图像来不断调整机器人运动位置,使跟踪定位精确.     

面向光学精密装配的微操作机器人

为完成复杂的光学精密装配任务,开发一种多传感器混合控制的宏/微结合微操作机器人系统.在分析光学装配原理的基础上,阐述机器人系统的组成.研制由交流伺服电动机驱动的6自由度并联机构和由压电陶瓷驱动的5自由度柔性铰链机构,分别实现光学器件的粗定位及精定位,由压电陶瓷驱动的二级杠杆放大机构实现光学器件的可靠夹持.建立包括位姿检测、显微视觉、激光损耗检测及力检测的多传感器控制系统,根据传感器采集的位姿信息、视觉信息、损耗信息及力信息协调控制宏/微定位工作台精确调整光学器件的位置和姿态,实现装配自动化.试验表明,开发的面向光学精密装配的微操作机器人能够成功地完成光学器件的精确装配.     

基于MEMS器件的微小型移动机器人嵌入式导航定位系统的研究

文章针对微小型移动机器人的实时导航定位需求,采用嵌入式系统设计思想,以新型MEMS惯性器件为核心,利用ARM／OPLD构建了一种结构紧凑、低功耗、低成本、通用性强的实时导航定位系统硬件平瓮利用μC／OS—Ⅱ实时操作系统开发了其嵌入式软件平台,实现了数字信号处理、插值升频、导航信息解算等处理算法;最后,通过在机器人上的搭载实验,验证了系统的功能和可靠性。     

基于视觉伺服的3D微定位控制

分析了基于全局显微视觉的视觉伺服定位控制方法。推导了G型体视显微镜的成像模型,结合图像视觉伺服和立体视觉理论,建立了3D微定位视觉伺服控制模型。在自主研制的微操作系统上进行了3D视觉伺服微定位试验,并分析了影响视觉伺服定位控制精度的误差因素,通过标定获得重要的控制参数。试验结果表明:采用3D微定位伺服控制模型的定位误差为±(3～4)μm,定位精度和稳定性能满足微定位的要求。     

基于两轮机器人运动模型的Kalman滤波视觉导航

在视觉算法对目标物识别的基础上,对两轮移动机器人运动模型进行分析,提出将其作为扩展卡尔曼滤波的系统状态方程,并应用到视觉导航系统中。仿真实验及实际测试表明,方法能较好地对两轮移动机器人的运动实现预测和估计,减轻环境干扰影响、降低处理计算量并提高系统实时性,满足了机器人在复杂环境下视觉导航的要求。     

基于微装配领域的微操作机器人系统研究

微装配已成为制造业遇到的新问题,制约着微机电行业的发展。文中对用于微装配领域的微操作机器人系统进行了系统的研究。提出了微操作机器人机构的选型准则,介绍了控制系统结构框图以及补偿方法、显微成像系统的结构,以及微夹持器设计中存在的若干问题。     

Robotic automatic assembly system for random operating condition

A vision guided tabletop robotic assembly system is constructed for the random environment automatic assembly purpose. The distributed control structure is designed for this assembly system. A PC is specified as the central control unit for machine vision operation and the harmonization of At89c51 distributed control unit for each axis. The machine vision is introduced to search the locations and measure the size of the assembly parts in the robotic workspace. Then, the central controller commands the robot to pick the part sequentially based on the specified program to complete the automatic assembly process. The model-free fuzzy sliding mode control scheme is embedded in each joint micro controller for simplifying the model based control problem. The central control unit PC communicates with each joint controller by network communication. This assembly system is implemented on a 3 DOF SCARA robot. The experimental results show that the robotic motion control performance is good enough for assembling work; the vision pattern classification and assembly motion paths planning and monitoring are exactly executed by the central control unit. The goal of this robotic random assembly operation is achieved with the appropriate integration of robotic motion control, machine vision, sensor and assembly force detecting techniques.     

一种宏微双重驱动精密定位机构的建模与控制

提出一种宏微双重驱动精密定位机构,采用高性能直线电机直接驱动宏动平台,实现系统大行程微米级精度定位;安装在宏动平台上的压电陶瓷驱动微动平台,实现纳米级的分辨率和定位精度,以高频响动态补偿系统的定位误差;采用精密光栅尺反馈微动平台输出端的位置信号,实现定位机构的全闭环反馈控制。在分别建立宏动、微动、宏微机构模型的基础上,提出复合型宏动控制和模糊自校正PID微动控制的宏微控制策略。实验研究表明:系统的动态和稳态性能良好,该定位机构的最大工作行程100 mm,稳定时间小于40 ms,重复定位精度10 nm。     

A neural multiclassifier system for object recognition in robotic vision applications

A robotic vision system has been developed that is based on the optical recognition of objects to be manipulated, that are located in the workspace of the robotic manipulator. The developed system has a low development and operation cost, is controlled via an external computer and operates in an unstructured complex environment. The vision system is desired to recognize the objects, which are placed in the workspace and also to identify the exact position and orientation of each particular object, in order to lead the robot manipulator system. For the recognition of objects, a high performance NEural MUlticlassifier System (NEMUS) is presented, which combines multiple classifiers that operate on different feature sets. NEMUS is characterized by a great degree of modularity and flexibility and is very efficient for demanding and generic pattern recognition applications.     

CT导航并联机器人构型设计及分析

为满足医疗上的任务灵活空间的要求,提出了一种新型的机器人机构,并从定义上考证,确定为单闭链并联机器人构型.文中用螺旋理论的矢量形式表示了运动输出特征方程,根据机器人机构拓扑结构理论分析了机构的活动度,同时通过公式对任务灵活空间进行了分析,绘制了动平台空间姿态随参数变化的规律表,提出了影响并联机构任务灵活空间的关键参数.对并联机器人构型的设计提供了一种理论上的参考.     

机器人工作空间配置的可靠性规划

机器人工作空间是机器人运行控制的一个重要指标。本文依据动作可靠性的基本概念 ,结合机器人动作可靠性评价的基本要求 ,建立了机器人运动误差分析模型。基于针对机器人工作空间配置的数学描述 ,给出了机器人工作空间配置的可靠性评价方法与规划策略。运用一个 4自由度机器人工作空间规划分析的实例说明 ,机器人工作空间配置的可靠性规划 ,是全面完善系统性能的一个有效途径。     

蒸汽发生器管束间狭窄区域检测机器人系统的研究

为实现蒸汽发生器传热管道群管束间狭窄区域的自动化检查 ,对管间机器人技术进行了研究。将管间检查任务分解为移动平台的纵向间歇移动和装载摄像头的管间小车的横向移动检查 ,采用简单的定位模块高效地实现机器人的定位与安装 ,应用伸缩模块来实现微小摄像头在每排管束间隙中的横向移动 ,研制了用偏动式SMA双程驱动器驱动的新颖的微小型 3 -CSR并联机构来调整微小摄像头的姿态。制作了一台样机及其控制系统 ,在蒸汽发生器传热管道群模拟平台上进行了实验 ,结果表明该样机性能达到了预期目标     

Research and Realization of a Master-Slave Robotic System for Retinal Vascular Bypass Surgery

Retinal surgery continues to be one of the most technical demanding surgeries for its high manipulation accuracy requirement, small and constrained workspace, and delicate retinal tissue. Robotic systems have the potential to enhance and expand the capabilities of surgeons during retinal surgery. Thus, focusing on retinal vessel bypass surgery, a master-slave robot system is developed in this paper. This robotic system is designed based on characteristics of retinal vascular bypass surgery and analysis of the surgical workspace in eyeball. A novel end-effector of two degrees of freedom is designed and a novel remote center of motion mechanism is adopted in the robot structure. The kinematics and the mapping relationship are then established, the gravity compensation control strategy and the hand tremor elimination algorithm are applied to achieve the high motion accuracy. The experiments on an artificial eyeball and an in vitro porcine eye are conducted, verifying the feasibility of this system.     

Research and Realization of a Master-Slave Robotic System for Retinal Vascular Bypass Surgery

Retinal surgery continues to be one of the most technical demanding surgeries for its high manipulation accuracy requirement, small and constrained workspace, and delicate retinal tissue. Robotic systems have the potential to enhance and expand the capabilities of surgeons during retinal surgery. Thus, focusing on retinal vessel bypass surgery, a master-slave robot system is developed in this paper. This robotic system is designed based on characteristics of retinal vascular bypass surgery and analysis of the surgical workspace in eyeball. A novel end-effector of two degrees of freedom is designed and a novel remote center of motion mechanism is adopted in the robot structure.The kinematics and the mapping relationship are then established, the gravity compensation control strategy and the hand tremor elimination algorithm are applied to achieve the high motion accuracy. The experiments on an artificial eyeball and an in vitro porcine eye are conducted, verifying the feasibility of this system.     

一种基于鼠标遥操纵的移动机器人运动控制系统

由视觉系统、基于鼠标操作的人机界面、无线发射／接收模块和双轮驱动机器人组成移动机器人运动控制系统。根据机器人的运动模型确定左、右轮速度为运动控制量,建立机器人基本运动与鼠标的左右键及滚轮操作的对应关系,基于Windows的消息驱动机制开发响应鼠标操作的应用程序,在对应滚轮操作的过程函数中嵌入机器人运动控制程序,给出程序流程图,详细说明源代码以及基于滚轮操作的机器人运动速度及转弯半径的调整方法。系统应用于无损检测的工业现场,机器人能够很好地完成工作任务。     

Optimal design of a 3-leg 6-DOF parallel manipulator for a specific workspace

Researchers seldom study optimum design of a six-degree-of-freedom(DOF) parallel manipulator with three legs based upon the given workspace. An optimal design method of a novel three-leg six-DOF parallel manipulator(TLPM) is presented. The mechanical structure of this robot is introduced, with this structure the kinematic constrain equations is decoupled. Analytical solutions of the forward kinematics are worked out, one configuration of this robot, including position and orientation of the end-effector are graphically displayed. Then, on the basis of several extreme positions of the kinematic performances, the task workspace is given. An algorithm of optimal designing is introduced to find the smallest dimensional parameters of the proposed robot. Examples illustrate the design results, and a design stability index is introduced, which ensures that the robot remains a safe distance from the boundary of sits actual workspace. Finally, one prototype of the robot is developed based on this method. This method can easily find appropriate kinematic parameters that can size a robot having the smallest workspace enclosing a predefined task workspace. It improves the design efficiency, ensures that the robot has a small mechanical size possesses a large given workspace volume, and meets the lightweight design requirements.