钛与低碳钢的电阻点焊

采用电阻点焊方法对纯钛与低碳钢Q235进行焊接试验，利用扫描电子显微镜观察分析了熔核区组织特性，探讨了焊接电流对熔核尺寸和抗剪载荷的影响. 结果表明，受焦耳热的影响熔核直径随焊接电流的增加而增加，抗剪载荷则随焊接电流的增大而呈先升后降的变化趋势，焊接电流为8 kA时所得接头的抗剪载荷最大，约2.85 kN. 在钢侧熔核区观察到了靠近钢侧厚度约为30～50 μm的TiFe2+α-Fe共晶组织层和粗大TiFe柱状晶；钛侧熔核区主要由靠近钛侧约12 μm厚的TiFe+α-Ti共晶组织层和TiFe柱状晶构成，且观察到了宏观分层现象.     

基于机器视觉的机车齿轮毂全自动双轴拧紧机的设计和应用

设计了基于机器视觉的机车齿轮毂全自动双轴拧紧机,根据拧紧工艺和扭矩控制原理实现对螺栓拧紧力矩的控制;通过丝杠变径机构,实现不同规格齿轮毂螺栓拧紧;利用机器视觉实现螺栓位置的识别以及初始位置的确定;讨论了自动拧紧机控制系统的硬件组成和软件系统配置,并介绍了防错、防漏功能的设计流程。螺栓自动拧紧机可提高装配精度和操作效率,降低工人的劳动强度。     

超声功率对2219-T351铝合金搅拌摩擦焊接头组织与性能的影响

采用搅拌摩擦焊和不同功率的超声辅助搅拌摩擦焊对2219-T351铝合金进行焊接试验，测量焊接温度和焊接压力，对焊接接头的微观组织、显微硬度和力学性能进行分析，研究了加入不同超声功率后焊缝的组织性能和材料流动性. 结果表明，超声能降低焊接温度，随着超声功率增加减小的幅度越大. 加入了超声后，焊缝微观组织更加均匀，底部材料的流动情况得到改善，焊缝区有更多的强化相残留，焊接接头的显微硬度、抗拉强度及断后伸长率在加入超声后均有提高，在加入2.25 kW的超声功率时达到最高，最高拉伸强度为331 MPa，可达到母材的80%左右.     

面向踝部康复的广义球面并联机构型综合

针对现有踝关节康复机器人难以充分拟合踝关节复杂运动，人机相容性较差的问题，提出一系列与踝关节实际骨结构匹配程度更高的串联等效拟合模型。为满足踝关节串联等效拟合模型对康复机器人机构本体的功能需求，给出一种具有串联等效拟合模型的广义球面并联机构型综合方法。首先枚举出广义球面机构的基本构件及运动副，并依此构造出广义球面支链。继而基于螺旋理论分析单支链以及多支链组合对动平台的约束性能，给出支链的组合条件与原则，阐明不同支链在机构中作用的异同，并依此归纳出位置支链和姿态支链两类广义球面基本支链。最后基于基本支链的约束特性，根据支链组合条件，综合出一系列适用于踝关节康复机器人本体研究的广义球面并联机构，并通过螺旋理论证明其与踝关节串联等效拟合模型的自由度数及性质具有一致性，为此类康复机器人本体设计提供理论依据。     

轨道式垃圾回收机器人设计与分析

针对高速公路高峰期拥挤产生的垃圾等问题,设计一种轨道式垃圾回收机器人,由光伏发电装置、机器人壳体、末端手爪、关节臂以及控制系统等组成,主体结构采用双臂三关节结构,采用西门子PLC控制系统,通过控制关节臂的旋转以及偏转、末端手爪的旋转及开合等动作来实现工作的目的。结合外场作业的特殊性,采用光伏能源装置,对其结构及控制系统进行设计,通过对机器人进行三维建模、运动和控制仿真分析,验证系统的可行性及有效性。     

基于RSI的工业机器人开放式控制系统设计

为提高工业机器人的柔性化及智能化水平,同时满足数据的实时共享、监控,使控制系统具有可扩展性与可移植性,设计了一种基于x86平台和RSI的工业机器人开放式控制系统。引入RSI后可载入应用程序包,实现PC工控机与KUKA机器人系统的实时性数据交换。运用模块化设计思路,针对硬件系统,制定软件系统平台的各功能模块,配合Windows操作系统的数据处理能力,在保证工业机器人实时性的前提下,实现了功能的扩展性和增减性。该系统在KUKA工业机器人力反馈实验平台上进行了可行性验证,试验表明,此开放式控制系统的实时响应性良好,满足预期控制要求。     

Creating the brain and interacting with the brain: an integrated approach to understanding the brain

In the past two decades, brain science and robotics have made gigantic advances in their own fields, and their interactions have generated several interdisciplinary research fields. First, in the ‘understanding the brain by creating the brain’ approach, computational neuroscience models have been applied to many robotics problems. Second, such brain-motivated fields as cognitive robotics and developmental robotics have emerged as interdisciplinary areas among robotics, neuroscience and cognitive science with special emphasis on humanoid robots. Third, in brain–machine interface research, a brain and a robot are mutually connected within a closed loop. In this paper, we review the theoretical backgrounds of these three interdisciplinary fields and their recent progress. Then, we introduce recent efforts to reintegrate these research fields into a coherent perspective and propose a new direction that integrates brain science and robotics where the decoding of information from the brain, robot control based on the decoded information and multimodal feedback to the brain from the robot are carried out in real time and in a closed loop.     

The benefit of being physically present: A survey of experimental works comparing copresent robots,telepresent robots and virtual agents

The effects of physical embodiment and physical presence were explored through a survey of 33 experimental works comparing how people interacted with physical robots and virtual agents. A qualitative assessment of the direction of quantitative effects demonstrated that robots were more persuasive and perceived more positively when physically present in a user׳s environment than when digitally-displayed on a screen either as a video feed of the same robot or as a virtual character analog; robots also led to better user performance when they were collocated as opposed to shown via video on a screen. However, participants did not respond differently to physical robots and virtual agents when both were displayed digitally on a screen – suggesting that physical presence, rather than physical embodiment, characterizes people׳s responses to social robots. Implications for understanding psychological response to physical and virtual agents and for methodological design are discussed.     

基于机器人的石化监测系统的设计与实现

在石化行业中，管道、罐体、塔体等介质的监测一直是课题研究热点。基于机器人的石化监测系统采用ARM处理器控制智能移动机器人，深入到人员不便进入的介质中，全方位、多角度监测介质的内部情况，准确地监测重要指标的数据，并能及时对图像、指标等数据进行处理。监测人员可在远离现场的地方查看现场情况，监测灵活、便捷。现场测试准确性高，有很高的推广价值。