Development of a Robotic Arm for Handicapped People: A Task-Oriented Design Approach

In this paper, a task-oriented design (TOD) procedure is proposed by which a robotic arm can be designed to achieve predefined tasks. To define the target tasks, we have spent about six months, observing every-day life of disabled people, and have determined 12 important tasks. By using TOD procedure in a coherent and consistent manner, we have developed a working prototype of a care-providing robotic arm for physically disabled people. Through experiments, we confirmed that the developed robotic arm is indeed able to carry out the predefined tasks.     

Nonlinearity for a parallel kinematic machine tool and its application to interpolation accuracy analysis

This paper is concerned with the kinematic nonlinearity measure of parallel kinematic machine tool (PKM), which depends upon differential geometry curvature. The nonlinearity can be described by the curve of the solution locus and the equal interval input of joints mapping into inequable interval output of the end-effectors. Such curing and inequation can be measured by BW curvature. So the curvature can measure the nonlinearity of PKM indirectly. Then the distribution of BW curvature in the local area and the whole workspace are also discussed. An example of application to the interpolation accuracy analysis of PKM is given to illustrate the effectiveness of this approach.     

机器人操作臂奇异路径约束最优轨迹规划

路径约束最优轨迹规划的关键是引入标量路径参数来降低优化问题的维数 ．当路径穿越奇异点时，由于关节位移难以表示为任务空间路径参数的解析函数，给常规的 路径参数化方法带来困难．本文引入一种新的参数化方法，采用路径跟踪方程解曲线的弧长 为参数，解决了奇异点邻域的路径跟踪问题，把奇异路径轨迹规划转化为常规规划问题，并 采用动态规划方法求解轨迹规划问题．仿真表明，本文提出的参数化方法与动态规划结合起 来，是解决奇异路径最优轨迹规划的有效途径．      

城市小区雨水管网非恒定数学模型的对比研究

本文采用水力学和水文学相结合的途径,建立了三种排水管网系统的数学模型,动力波法、非线性运动波法、改进的马斯京根法,并对具体的方法给出详尽的推导。通过对单一管道和北京百万庄小区小巴区域的雨水管网进行模拟,应用文献的资料进行验证分析,可以看出计算结果和文献的计算值及实测值吻合比较好,表明三种方法均可用于城市小区排水系统管网的设计和管理,有实际的应用价值。     

基于蚯蚓原理的多节蠕动机器人

介绍了多节蠕动机器人的机体构造和运动原理，建立了机器人运动模型并进行了分析. 阐述了该机器人系统的控制组成和软件设计. 讨论了机器人在不同倾角橡胶管道内的驱动性能试验.进行了机器人温度试验及转弯性能试验.结果表明：该微小型机器人运行可靠、平稳，控制方便，有一定的爬坡能力；连续工作时机器人温度不超过35℃；可通过大于36mm的弯曲半径.该研究为非结构环境狭小空间及人体消化道探察机器人的研制奠定了基础．     

一类特殊的Stewart机构的位置正解

讨论了一种上、下平台相似且对应顶点相联的 Stewart 机构.给出了这种形式的Stewart 机构的正位移分析的封闭解,并且发现,当上平台的6个顶点在同一二次曲线上时,机构变为几何异形机构,此时不论机构处于何种位置都是奇异的.用数值实例验证了这个结果.     

探讨凸轮机构压力角的新用途

本文揭示了凸轮机构压力角、公法线与偏置移动滚子从动件盘状凸轮廓线的联系,论述了求凸轮实际廓线方程的全过程。     

The stability of stars of simplicial hybrid equilibrium finite elements for solid mechanics

In this paper, we define the spurious kinematic modes of hybrid equilibrium 2D and 3D simplicial elements of general degree and present the results of studies on the stability of star patches of such elements. The approach used in these studies is based on first establishing the kinematic properties of a pair of elements that share an interface. This approach is introduced by its application to star patches of hybrid equilibrium triangular plate elements for modelling membrane and plate bending problems and then generalised to 3D continua. It is then shown how the existence of spurious kinematic modes depends on the topological and geometrical properties of a patch, as well as on the degree of the polynomial approximation functions of stress and displacement. Copyright © 2015 John Wiley & Sons, Ltd.     

运动学矢量参数测量方法

研究了用于测量运动学矢量参数的测量方法.建立矢量测量装置的广义运动学模型及带有补偿的数学模型,得到敏感器运动分离后的简化模型.然后,通过具有电磁和静电支撑补偿的天平描述敏感器的运动,建立了作用在敏感器上的广义电磁力系统运动学方程.分析结果表明使用补偿模型可以建立新型模块化矢量测量装置,解决了分析侧向连接的影响.     

电力隧道自动巡检机器人设计与运动仿真

针对现有电力隧道巡检机器人自动化程度不足、视野和观测角度有限的问题,设计了一款子母式自动巡检机器人。其中：具有移动功能的巡检机器人母机能够完成主要的日常巡检工作,并具备越障、避障能力;具有攀爬功能的子机能够完成复杂环境、极限角度条件下的勘测任务。子、母机共同协作可完成整个电力隧道的自动化巡检。首先,基于总体功能需求,提出了巡检机器人各模块的具体形式,并完成了其自动巡检的逻辑系统分层设计。然后,基于虚拟样机技术,在ADAMS (automatic dynamic analysis of mechanical systems,机械系统动力学自动分析)软件中建立电力隧道运行环境,并结合运动学仿真分析结果优化巡检机器人母机的结构,以提升机器人在隧道内作业的平稳性并确保其所搭载的传感器均能正常工作。结果表明,母机结构优化后,巡检机器人能够平稳运行,传感器平台的抖动幅度在5 mm内,且搭载的各传感器均能正常工作,验证了该机器人方案设计的合理性。相关理论研究结果可为电力隧道自动巡检机器人物理样机的研制提供可靠的技术支撑。