双臂机器人轴孔装配的运动学关系分析

研究了双臂进行轴孔装配的运动学约束关系。双臂协调作业的关键,在于根据作业要求确定双臂运动的约束关系。结合轴孔装配的特点,推导了主从臂在位置、方位、关节速度和关节加速度上的完整约束,由主臂的运动变量来规划从臂的运动变量。仿真结果表明所建立的约束关系,能确保轴孔装配的顺利完成。     

双臂机器人轴孔装配的分级控制

设计了双臂协调进行轴孔装配的分级控制器。该控制器由管理级和执行级组成,管理级在进行主臂的期望运动路径规划的同时,根据采样到的主臂信息,对从臂进行期望关节运动角的递推,而执行级只需执行管理级输出的期望值。执行级的控制方式与普通单臂机器人控制方式一样。仿真结果表明所设计的分级控制器能顺利完成双臂的协调轴孔装配作业。     

双臂机器人无碰撞运动规划

针对双臂机器人任务操作中的非结构化环境特点 ,本文对双臂机器人无碰撞运动规划问题作了深入的研究 ,将 C空间法成功地应用于双臂机器人的无碰撞运动规划 ,通过建立时变 C空间 ,提出了从臂无碰撞状态数据库(CSDB)概念。在本算法中 ,双臂机器人无碰撞运动路径可以通过对从臂无碰撞状态数据库的搜索获得 ,运用该算法可以在时变 C空间中得到一条最优的无碰撞运动路径 ,本算法已经在双臂 SCARATES型机器人上通过试验论证 ,证明算法可行 ,效率较高     

双目视觉传感器下的双臂装配机器人最佳装配位置的确定

双目注视下双臂机器人装配时，双目测量分辩率最高的位置往往并不对应机器人的最佳操作性，为求得机器人的最佳装配位置本文把问题归结为对一个所构造的目标函数求值，并通过调节权重来加强对某一性能的侧重。文中的计算实例利用遗传算法对该方法进行了仿真计算，计算结果表明采用该方法能确定出测量分辩率和可操作性俱佳的装配位置。并给出了结论。     

双臂石雕机器人的设计

研究将双壁机器人实用于石雕加工，完成了2R-1P3R双壁石雕机器人的结构设计，并用故障树分析法使设计优化。该机器人具有结构轻巧、工作灵活、加工质量高等特点，可取代人的双手加工全立体复杂石雕。     

冗余度双臂机器人协作策略下实时避障算法

针对冗余度双臂机器人协调操作过程中机械臂本体避障及躲避环境障碍问题,提出了基于冗余机械臂自运动特性的双臂机器人协作策略下实时避障算法。首先,利用障碍物在机械臂连杆上的投影矢量筛选掉不会避碰杆件,再计算可能避碰杆件与障碍物的最短距离;其次,根据双臂协作的运动学约束关系,得到冗余度双臂机器人协调搬运避障的运动学逆解;再次,引入梯度“安全距离”和两个避障因子,实时改变机械臂的避障速度,使机器人末端完成协作任务以及双臂实时自避碰及躲避环境障碍物的任务;最后,利用冗余度双臂机器人进行仿真及实验。结果表明：双臂机器人末端执行器执行协作任务的同时机器人双臂可以躲避障碍物,且各关节运动连续、平稳。     

基于网络的开放式双臂机器人控制器

针对开放式控制器的原有结构，提出了一种融合网络的简化分层控制模型，结合本实验室的双臂机器人，详细阐述了基于网络的开放式控制器的硬件结构和软件结构，最后介绍了系统的具体实现方式。     

双臂雕塑机器人的动力学研究

用 R.P.Paul的动力学分析方法对 2 P-1P3 R双臂机器人进行了动力学研究 ,推导出各关节驱动力或力矩的公式。用切削原理的方法结合微分几何的理论求解切削力。用 MATLAB语言开发出求各关节最大驱动力或力矩的软件 ,并进行了实例数值计算     

基于机器视觉的双臂协作机器人拧紧装配实验研究

针对发动机连杆装配过程复杂繁琐且操作人员易受伤害的问题,提出一种基于机器视觉和力觉协同引导下的双臂协作机器人拧紧装配策略。在建立双臂协作机器人运动学模型的基础上,协作机器人首先通过左臂进行机器视觉识别及引导,带动右臂在PID算法下进行位姿调整及伺服机构的粗定位;在精定位阶段,运用机器人末端的力觉信息反馈,实现扭矩监控和拧紧螺栓双向协同作业,协力完成拧紧工序的力觉精确调整;通过以上装配策略,实现发动机连杆拧紧全过程管理,提升了装配工艺操作的高效性及安全性。实验结果表明：基于机器视觉和力觉协同引导下的双臂协作机器人装配安装过程全程可控,且装配结果符合生产工艺要求,可在序列化生产中推广应用。     

基于约束关系的服务机器人双臂协同运动控制研究

为了提高家居服务机器人在双臂协同运动作业时的准确性和安全性,提出了一种基于约束关系的双臂协同运动控制算法。通过对机器人双臂坐标系模型的建立以及运动学正逆解的分析,结合双臂运动中位置、姿态及各关节速度之间的约束关系,实现了机器人较精确的双臂协同运动。本算法已经成功应用于所研究的家居服务机器人,实验结果表明,算法具有精确度高、实时性好的特点。     

A novel task-oriented framework for dual-arm robotic assembly task

Frontiers of Mechanical Engineering - In industrial manufacturing, the deployment of dual-arm robots in assembly tasks has become a trend. However, making the dual-arm robots more intelligent in...     

基于ROS的机器人宇航员模型构建与仿真验证

随着我国空间站项目的稳步推进和机器人技术的发展,研发可以协助甚至代替宇航员进行危险舱外操作的机器人宇航员成为亟待研究的课题。首先建立了双臂仿人机器人宇航员的URDF模型,而后基于机器人操作系统提供的三维仿真工具Rviz,构建机器人宇航员的三维虚拟运动仿真环境,并进行了仿真实验。实验表明,机器人宇航员可以完成物体抓取、搬运等任务,证实了机器人宇航员模型结构的合理性。     

Analysis and design study of LCD transfer robot using dynamic simulation and experiment

Recently, the size of raw glass has been greatly increased in the new generation Liquid Crystal Display (LCD) technology. To handle bigger and heavier glasses, it is necessary to develop a large scale LTR (LCD Transfer Robot) to support various complicated LCD fabrication processes. This adjustment will result in difficult design problems such as vibration, handling accuracy deterioration, and high stress due to heavier dynamic loads. In turn, these will result in inaccurate transfer motion and fatigue cracks. In this paper, the dynamic simulation technique is introduced to validate a baseline design and to propose new and improved designs for the best performance of heavy-scaled LCD transfer robots. The dynamic models and analysis results were verified by real experiments including strain measure test and motor power test. Using the verified simulation model, some dynamic situations such as the robot’s emergency stop and free fall situation, which were not impossible to test using the real proto robot, were analyzed and predicted using the simulation model. This paper was presented at the 4th Asian Conference on Multibody Dynamics(ACMD2008), Jeju, Korea, August 20–23, 2008. Jong-Hwi Seo received a B.S. M.S. and Ph.D. degrees from Ajou University in 1998, 2000 and 2005, respectively. He is currently a senior engineer in Mechatronics and Manufacturing Technology Center of Samsung Electronics Co. His research interests are in the area of multibody dynamics, robotics and mechanism design. Jae Chul Hwang received a B.S., M.S., and Ph.D. degrees in mechanical engineering from Seoul National University, Korea, in 1996, 1998, and 2002, respectively. He is currently a senior engineer in Mechatronics and Manufacturing Technology Center of Samsung Electronics Co., Ltd. His research interests are in the area of kinematics and dynamics of serial and parallel kinematic robot. Yong-Won Choi received a M.S degree in Mechanical Engineering from Korea University in 1993. He has worked for Samsung Electronics, Ltd from 1993 and is currently a principle engineer at Robot Mechanism Part in Mechatronics and Manufacturing Technology Center of Samsung Electronics Co. He is interest in the area of robotics, control and mechanism design. Hong Jae Yim received B.S. and M.S degrees in mechanical engineering from Seoul National University, Korea, in 1979, and 1983, respectively. He received Ph.D degree from Univ. of Iowa, USA. He is currently a professor in School of Mechanical & Automotive Engineering, Kookmin University. His research interests are in the area of computer aided kinematics and dynamics of mechanical systems.     

基于约束解除的装配序列并行化优化

为了提高产品装配的效率,提高装配序列的并行性,提出了基于约束解除和简化配合关联图的装配序列并行优化方法。给出了装配效率的评价指标一并行性评价因子的数学模型。将模糊逻辑用于装配约束的量化过程,通过约束归约方法将无约束条件下可自由运动零件的自身约束与零件间通过点、线、面之间几何约束关系所表达的装配约束进行求交,建立零件间的等价约束评价值即联接度,联接度概念的提出清晰地表达了配合关联图中的薄弱环节;在此基础上,建立装配体的赋权配合关联图,并根据联接度值的大小对零件间的虚联接进行简化,给出了一个基于阈值的追求装配最高并发度的配合关联图分解与重组策略,实现了装配序列并行优化,并通过实例说明了该算法的有效性。     

基于工业机器人的开关柔性组装自动化系统设计

以MD1位单开开关壳体中开关铜件和壳体组装为例,研发和设计了一套开关铜件和壳体组装工序的自动化系统。应用工业机器人、现代传感技术、现代控制理论技术、机械结构原理以及PLC触摸屏技术,研究开关壳体中开关铜件和壳体的装配工艺,完成整套系统的机械结构设计,选型合适的工业机器人,设计相对应的机器人末端执行器,配以精确可靠的PLC集中控制系统。最后研发出一套基于工业机器人在开关铜件和壳体组装工序中的自动化系统。     

Adaptive walking of a quadrupedal robot based on layered biological reflexes

A multiple-legged robot is traditionally controlled by using its dynamic model.But the dynamic-model-based approach fails to acquire satisfactory performances when the robot faces rough terrains and unknown environments.Referring animals’ neural control mechanisms,a control model is built for a quadruped robot walking adaptively.The basic rhythmic motion of the robot is controlled by a well-designed rhythmic motion controller(RMC) comprising a central pattern generator(CPG) for hip joints and a rhythmic coupler(RC) for knee joints.CPG and RC have relationships of motion-mapping and rhythmic couple.Multiple sensory-motor models,abstracted from the neural reflexes of a cat,are employed.These reflex models are organized and thus interact with the CPG in three layers,to meet different requirements of complexity and response time to the tasks.On the basis of the RMC and layered biological reflexes,a quadruped robot is constructed,which can clear obstacles and walk uphill and downhill autonomously,and make a turn voluntarily in uncertain environments,interacting with the environment in a way similar to that of an animal.The paper provides a biologically inspired architecture,with which a robot can walk adaptively in uncertain environments in a simple and effective way,and achieve better performances.     

基于达宝易分析软件的发动机装配过程的优化研究

针对汽车发动机装配过程中存在影响生产效率和生产周期的瓶颈问题,以达宝易分析软件为研究工具,结合工业工程的基础手段和方法,对装配过程中各个工序进行动作分析和时间测定,找出不合理的动作和时间浪费的现象,并进行优化改善,从而达到缩短装配过程周期和提高生产产能的目的。对该优化方案进行计算,使装配时间从212.47s减少到161.8s,产能从17件/(人·小时)提高到22件/(人·小时)。     

LabVIEW 驱动一般多功能接口卡的研究

本文首次提出运用动态数据交换实现ＬａｂＶＩＥＷ驱动一般多功能接口卡,分析了实现方案及其可行性,给出了实验结果,利用一个接口卡实现了多通道的数据采集。     

白车身装焊单元点焊机器人路径规划研究

轿车白车身装焊单元,常采用多机器人同时焊接,设备多、机器人工作空间环境复杂,依靠经验方法的路径规划工作量大且难以优化。通过对装焊单元进行分析,在采用商品化的建模与仿真软件对装焊单元进行建模的基础上设计了Probabilistic Roadmap算法自动规划点焊机器人的运动路径。通过对一单机器人装焊单元进行路径规划与仿真验证说明了规划方法的有效性。     

An adhesive selection advisor for PCB assembly using surface mount technology

The interrelationships that exist in the manufacturing processes associated with the surface mount manufacture of printed circuit boards (PCBs) are complex and varied. Proper understanding of the relationships between the variables in a surface mount technology (SMT) process are critical for achieving effective process control and high yields. One aspect of the complex relationship is the selection and dispensing of adhesives for the wave soldering of surface mount components on a PCB.The quantitative and repeatable dispensing of adhesive dots is critical to providing adequate process control for attaching components including chip resistors, capacitors, and small outline type transistors to the wave solder side of a PCB. Variables that need to be considered include facility temperature, humidity, size and types of components used on the PCB, adhesive properties, type of dispenser used, curing requirements, and the soldering time and temperature,A knowledge-based approach which considers these relationships is described. Developed in PROLOG, this stand alone adhesive selection advisor is capable of guiding the user in the selection of the proper adhesive and providing dispenser related information. The factors considered include facility temperature, material property requirements, productivity measures including yield, and the process used to dispense the adhesive. The system also functions as a database for adhesive related properties and as an on-line installation and maintenance manual for the adhesive dispenser. Twenty-one different commerically available adhesives and two types of dispensers (air over and positive displacement) have been considered in this research.