北航——基于CAD/CAE的工业机器人设计开发平台

北京航空航天大学以高速、高精、重载等高性能工业机器人发展需求为牵引,基于三维CAD建模以及运动学、动力学CAE仿真分析算法等核心工具,搭建CAD／CAE集成的标准体系架构,攻克工业机器人建模和仿真、工业机器人系统轻量化结构拓扑优化、运动学及动力学与精度设计、高性能几何造型内核、模型库与数据库、知识驱动的设计导航等核心技术,构建基于运动学、动力学和有限元仿真的、与CAD／CAE技术相融合的工业机器人设计开发平台。在此基础上,探讨该平台的市场化开发商业模式．     

以色列的工业机器人中心

1983年,农场工业学会联合以色列的首席科学家创立了这个中心。目标是向以色列工业界介绍机器人技术、柔性自动化和 CAD/CAM。该中心拥有一批机器人。该中心的活动领域是:1 工厂自动化问题的仿真该中心鼓励工厂用它的设备研究专门自动化问题的可能解决方法和观察这种解决方法的效果。2 机器人技术信息的传播该中心有一大型图书馆,其中有书籍、杂志、录相带和一个计算机化的数据库。可以通过这个数据库查询和调用以色列和世界上的有关机器人技术的资     

试论国内外机器人机械学的发展趋向

本文概略介绍了机器人技术的发展现状,阐述了机器人机械学的含义和范围.分析了本学科的主要研究领域(机器人运动学和动力学、机器人机械CAD技术、机器人新机型和新结构、机器人应用工程、步行机器人等)及其在科学技术中的地位.全文结合上述5个主要研究领域较详细地论述了国内外现状及发展趋向.最后结合我国实际情况提出了机器人机械学的研究方向及主要研究内容的建议.     

机器人CAD的几个问题

机器人CAD是当前CAD领域里发展比较迅速的一个分支,它有着其他CAD系统所没有的特点。本文讨论了这些特点,就机器人CAD研制中的几个问题提出了自己的看法。     

用VB开发Auto CAD应用程序

本文介绍了使用VB读写Auto CAD图形文件的方法,对于Auto CAD的二次开发有很大的帮助,对于CAD系统与数据库和internet的信息集成提供了很好的接口。     

国外机器人仿真技术的研究

本文根据近几年来国外机器人仿真技术研究新动向,简要地介绍了冗余自由度操作手、多操作手机器人系统、机器人弹性动力学、并联式机器人系统的仿真研究情况.并就将 CAD 技术应用于具有运动学、动力学分析综合以及三维动态图形显示功能的通用化机器人仿真系统的问题作了进一步的探讨。     

Microstation的Oracle数据库接口及使用

本文探讨了在CAD应用开发中图形数据库与非图形数据库的关系，介绍了Microstation与oracle数据库系统的连接及数据库接口的使用方法。     

数据库驱动的对话机器人技术实现

世界上很多高价值的数据信息储存在关系数据库中,访问这些数据需要掌握专门的结构化查询语言(SQL),普通人很难直接使用.基于对现有对话机器人存在的问题和相关关键技术的梳理,本文融合了数据仓库、数据同步、数据库查询、消息推送、自然语言理解及语音识别等相关技术及产品,设计了数据库驱动的对话机器人.方案可以实现用户理解、消息推...     

CAD在潜艇总布置方案设计中的应用研究

本文探讨了 CAD 技术在潜艇总布置方案设计中的应用问题.详细论述了潜艇总布置 CAD 系统的构成及实现。特别对图形数据库的结构设计、图形数据库的管理与维护、设备布置设计程序的形成与实现作了较为详细的叙述,提供了采用 AUTOCAD 绘图支撑软件在微机上开发 CAD 应用软件的一般方法.具有实用价值.     

嵌入式数据库Berkeley DB在智能海洋机器人中应用

海洋所蕴藏的巨大经济潜力以及它在政治、军事上的重要地位已经受到世界各国的广泛关注.近年来,人们把注意力投向作为海洋资源的开发工具的各种海洋机器人的研发上.本文介绍了嵌入式数据库特点及Berkeley DB数据库体系结构,结合海洋机器人实时监测系统的具体需求,提出了一种基于嵌入式数据库Berkeley DB在智能海洋机器人系统中应用方案.     

Development of post-processor approach for an industrial robot FANUC R2000<Emphasis Type="Italic">i</Emphasis>C

In this paper, a post-processor for the industrial robot FANUC R2000iC is introduced. Without going through the conventional teaching process, the post-processor regularly generates a rigorous robotic program from cutter location source data called CLS data. The CLS data are easily made through the main process of CAD/CAM, so that a promising data interface is realized between the industrial robot and CAD/CAM. The effectiveness is evaluated through simulations of trajectory following and also through an actual machining experiment of foamed polystyrene with a complex shape.     

CAD/CAM data base design to support set-up reduction strategies in electronics assembly

This paper outlines the requirements for CAD/CAM data base designs in the electronics industry. Emphasis is placed on the presentation of information in a useable format to support set-up decision making.     

基于知识工程的真空镀膜机模块化设计系统

提出了一种真空镀膜机的模块化设计方法,这种方法以专家系统和案例库为支撑,构建基于知识工程的真空镀膜机模块化设计系统。论述了数据库和案例推理方法为基础的专家系统,并且讨论了知识体系的结构,模块化设计方法以及案例推理的方法。由基础设计参数、设计约束、设计规则寻找最适合的型号和配置。通过设计后的数据到专家系统中寻找型号,再从案例库中获得此型号配置,并自动生成设计式样书和物料清单等,解决了目前CAD技术在真空镀膜机设计过程中存在的错误以及数据共享的问题,实现了结构设计、工艺设计、产品数据管理一体化过程。     

火箭姿态控制CAD数据管理系统设计

数据管理系统是火箭姿态姿态控制CAD系统的支持平台,它不仅要存储历次仿真中积累下来的大量珍贵的真实仿真数据,而且要存储以往设计的参数设置数据、参数属性等信息。除此之外,此数据管理系统得具有数据查询、数据分析、技术报表生成等功能,为用户提供有关设计方案的各种重要信息。主要研究利用SQL Server 2008数据库、.NET平台和ADO.NET技术实现火箭姿态控制CAD数据管理系统的设计与开发。     

Updating workpiece geometry using robotic sensor information gathered during contact tasks

During robotic contact tasks, geometric information of the workpiece is used to specify the position of the robot’s hand on the workpiece and the direction of force control. This geometry is idealized in a typical CAD file, but due to manufacturing precision or wear, the actual workpiece geometry is inevitably deviated from the desired geometry. Furthermore, when the workpiece is mounted, position and orientation inaccuracies emerge. In this paper, we investigate two questions: (1) Can the workpiece geometry in the CAD file be used to control a robot in contact with an inaccurately placed workpiece?; and (2) Once the task is performed, how can the robot’s sensor information be used to update the geometry of the workpiece? A methodology is developed to solve robotic control problems with workpiece position and geometry inaccuracies. Once performed, the CAD file image is displaced to fit the sensed trajectory of the robot’s hand. Finally, the workpiece image geometry is modified using a least squares approximation to fit the sensed data more accurately. In the end, the robot performs the contact task while gathering information that is used to update the original CAD file geometry. The methodologies are demonstrated through a simulation experiment that requires a robot to shave a geometrically altered face that is inaccurately positioned.     

Direct off-line robot programming via a common CAD package

This paper focuses on intuitive and direct off-line robot programming from a CAD drawing running on a common 3-D CAD package. It explores the most suitable way to represent robot motion in a CAD drawing, how to automatically extract such motion data from the drawing, make the mapping of data from the virtual (CAD model) to the real environment and the process of automatic generation of robot paths/programs. In summary, this study aims to present a novel CAD-based robot programming system accessible to anyone with basic knowledge of CAD and robotics. Experiments on different manipulation tasks show the effectiveness and versatility of the proposed approach.     

CAD‐based automated robot programming in adhesive spray systems for shoe outsoles and uppers

Most shoe manufacturing processes are not yet automated; it puts restrictions on increasing productivity. Among them, adhesive application processes particularly are holding the most workers and working hours. In addition, the working environment is very poor due to the toxicity of adhesive agents. In the case of automating an adhesive application process by using a robot, robot teaching by playback is difficult to produce high productivity because the kinds of shoes to be taught mount up to several thousands. To cope with it, it is necessary to generate robot working paths automatically according to the kind, the size, or the right and the left of shoes, and also to teach the generated paths to a robot automatically. This paper presents a method to generate three‐dimensional robot working paths off‐line based on CAD data in an automatic adhesive spray system for shoe outsoles and uppers. First, this paper describes how to extract the three‐dimensional data of an outsole outline from a two‐dimensional CAD drawing file. Second, it describes how to extract the three‐dimensional data of an upper profiling line from the three‐dimensional scanning data that is opened in a three‐dimensional CAD program. Third, it describes how to generate robot working paths based on the extracted data and the nozzle setting parameters for adhesive spray. Also, a series of experiments for adhesive spray is performed to verify the effectiveness of the presented methods. This study will do much for increasing productivity in shoe manufacturing as a core work of a robotic adhesive spray system. © 2004 Wiley Periodicals, Inc.     

目标识别追踪算法系统设计及分析

通过植入到机器人控制单元,帮助机器人在感知环境的前提下更好的识别和追踪目标,本文研究设计了一种基于本地数据采集处理的目标识别追踪算法系统,通过对本地和云端两个方案测试验证设计系统在综合性能的优越性,主要解决室外机器人在实际场景中识别目标出现的高延迟、不稳定等问题。     

大型实景地理模型3D喷绘机器人及其喷绘方法优化

通过对卫星遥感数据的处理和分析,得到地理信息的实景模型数据.在此基础上,对实景地理模型喷绘机器人核心技术展开研究,包括机构、控制系统设计、模型优化、图像补偿等,最终实现高精度、真彩色实景地理模型的自动喷绘方法.     

Discretization and fitting of nominal data for autonomous robots

This paper presents methodologies to discretize nominal robot paths extracted from 3-D CAD drawings. Behind robot path discretization is the ability to have a robot adjusting the traversed paths so that the contact between robot tool and work-piece is properly maintained. In addition, a hybrid force/motion control system based on Fuzzy-PI control is proposed to adjust robot paths with external sensory feedback. All these capabilities allow to facilitate the robot programming process and to increase the robot’s autonomy.