具有双重被动柔顺特征的撑套式装配机械手构形设计与特性研究

利用机械手抓取与装配薄壁易碎件时,受作业对象的形貌误差等影响,易碎件容易破裂。针对此类问题,提出了一种可实现双重被动柔顺构形的撑套式装配机械手。首先,介绍了机械手抓取用于合成金刚石的易碎原料环的作业过程,分析了在装配过程中可能出现的误差情况,提出了设计双重被动柔顺机械手结构的准则,并对机械手的关键部件——柔顺环——的设计过程进行了介绍。其次,为了研究该机械手在工作中的响应情况,构建了机械手的3维模型,并导入ADAMS软件中进行仿真分析,获得了装配过程中工件的应力及柔顺环的受力及形变。仿真结果表明,当薄壁易碎件与待装配凸模之间存在位姿偏差时,所设计的机械手结构可以通过自适应形变调整其抓取工件时的位姿,并顺利完成装配。最后,设计制作了相应的机械手实验样机进行实际装配实验,证明了研究结果的正确性。     

任意凸形销孔零件及多销孔零件装配策略与实验研究

基于零件装配理论分析，本文提出了任意凸形销孔零件及多凸形销孔零件的装配策略，并开发了一个机器人装配系统，它由一个新研制的带有力功能机器人末端微操作器和ＰＵＭＡ５６２机器人组成，不同以往的设计，此微操作器主动调整与被动柔顺结合为一体，本装配系统能完成任意凸形销孔零件沿任意方向的装配作业，本文给出了典型的实验结果。     

机器人柔顺装配机理研究

本文对柔顺装配中轴，孔位姿偏差和装配力变化规律进行了分析；对装配中一些非正常情况提出了解放；提出了装配作业的可行域；指出了改善装配作业的可能途径。本文所提出的数学模型和约束条件不仅是研究各类外部柔顺技术的理论基础，而且也是研究力－运动轨迹控制策略的理论依据。     

基于混合驱动的柔顺性触觉接口装置

针对目前柔顺性触觉接口设备存在的容易失真的问题,提出了一种基于电机和磁流变液混合驱动的柔顺性触觉接口装置。在简单介绍了磁流变液的基础上,讨论了基于磁流变液被动驱动器的结构和原理,该驱动器采用多转子设计思路以增大力输出范围。利用磁流变液驱动器能够模拟肌体组织的黏滞性,电机能够模拟肌体组织的弹性,将驱动器与电机串联实现肌体组织的柔顺性再现,同时利用电机补偿驱动器非有益阻尼力,增强装置的保真效果。在此基础上设计了柔顺性触觉接口装置,对装置模拟自由空间、不同的变形程度柔顺性物体受力进行了介绍,分析了装置的控制方法,最后加工了触觉装置原型,开展了不同柔顺度虚拟肌体组织柔顺性再现实验,实验结果验证了所设计装置及控制方法的有效性。     

基于蒙特卡洛模拟的机器人工作站规划

机器人装配工作站是机器人柔性装配系统的主要组成部分。本文采用蒙特卡罗原理研究作业系统误差、机器人位姿误差补偿和机器人柔顺性对机器人装配过程的影响，从而确定上料装置和定位装置的最优位姿，本文所提出的工作站规划方法对设计机器人装配工作站具有实用价值。     

基于被动柔顺的机器人抛磨力/位混合控制方法

为了实现抛磨系统机器人末端的位置控制和接触力控制,提出一种基于被动柔顺装置的机器人抛磨系统力/位混合控制策略.在机器人末端安装一个柔顺装置实现对工具末端力控制和位置控制的解耦.柔顺装置一端安装于机器人末端,另一端连接抛磨工具.机器人控制器控制机器人末端位姿,间接对工具末端位姿进行控制和补偿,柔顺装置控制器直接控制工具与工件的接触力.经过建模分析,采用非线性PD(比例-微分)控制提高了柔顺装置的动态调节性能.仿真结果证明该方法可以对目标轨迹进行跟踪与补偿,并实现期望力的快速调节.非线性PD控制将柔顺装置受干扰后恢复稳定的调节时间由220 ms提高到60 ms.实验进一步验证了仿真结果,并通过对航空叶片进行打磨与抛光获得了良好的表面质量.结果表明提出的控制方法是切实可行的.     

智能装配机器人机构的研究和发展

本文概述国外装配机器人向着高性能。智能化方向发展的趋势,并着重评述与此相应在智能装配机器人机构方面的研究和发展趋势.如高速、高精度的机械结构,轻型手臂,高性能驱动器,柔顺装配技术、柔顺手腕,灵巧手爪,可编程的周边装置等.     

主动RCC控制方法研究

本文提出了一种新的主动ＲＣＣ（ＡＲＣＣ）控制方法。介绍了ＡＲＣＣ的工作原理和控制结构，给出了系统闭环刚度和去耦力反馈矩阵的计算方法以及柔顺中心的设置策略。这些研究结果为ＡＲＣＣ控制在机器人装配作业中的应用奠定了基础。     

一种磁吸附壁面移动机构

本文提出了一种轮，履带复合式磁吸附壁面移动机构，介绍了结构方案和磁性支重轮的设计方法，并分析了该机构的稳定性和被动柔顺功能，该机构既可作为铁磁性壁面上爬行的运载工具，又能运用到封闭管内行走机器人的行走装置上。     

机器人柔性腕力传感器及其检测系统

介绍了一种集被动柔顺和力传感器于一身的机器人柔性腕力传感器,该传感器采用非接触式的光电检测装置进行位置/姿态变换的检测,检测准确度高,不易受到干扰,通过USB接口与计算机进行数据传输,接口方便。     

Micro parts assembly system with micro gripper and RCC unit

This paper presents a new micro assembly system, which is composed of a micro gripper, a micro remote center compliance (RCC) unit, a voice coil motor-driving mechanism and precision motion stages. The micro gripper is actuated by two shape memory alloy (SMA) wires, and its grip is 1 mm. The micro RCC unit has low translational and rotational stiffness sufficient for micro parts assembly. The voice coil motor-driving mechanism can generate linear motion with an adjustable stiffness, and it can also measure external force in the moving direction. An algorithm for the automatic assembly of micro parts is also proposed, and assembly experiments are performed.     

Universal compliant device based on SCARA concept

The paper presents the results of the research and the development of the universal adaptive compliant device for customary assembly task robot configurations. The developed system is based on a newly developed SCARA robotic mechanism and combined properties of the SCARA concept and RCC devices. It successfully operates around its true compliance center, obtained under precisely determined conditions.     

Development of a new variable remote center compliance for assembly robots

In this paper, we develop a new elastomer shear pads (ESPs) variable remote center compliance for peg-in-hole assembly. It consists of one top plate and one bottom plate, which are linked by four ESPs as in a conventional RCC. However, it has a structure to enable the four ESPs to rotate about the vertical axis of the bottom plate so that the position of the compliance center can be adjusted freely by changing the rotation angle. As a result, the new VRCC can be applied to pegin-hole assembly with various peg lengths. Furthermore, it has a very simple mechanical structure so that it can be manufactured easily.     

Effect of superficial insulation on roller-compacted concrete dams in cold regions

Superficial insulation is often used to prevent cracking of concrete dams located in cold regions. In this study, surface temperatures with and without heat insulation during the overwintering period are calculated. Using the material properties of roller-compacted concrete (RCC) as bases, we simulate and analyse the temperature field and thermal stress of certain RCC gravity dams in cold regions. The simulation and analysis are performed by three-dimensional finite element relocating mesh method under the following conditions: under the absence of heat insulation, and with the application of a 5 or 8 cm polystyrene slab for heat conservation. Moreover, the effects of superficial insulation and different thicknesses on the temperature field and thermal stress are analysed. Results show that superficial insulation can considerably increase the superficial temperature of RCC dams in cold regions, thereby decreasing superficial temperature difference and maximal tensile stress. These conditions prevent surface cracks from forming.     

水电站大坝碾压混凝土温控措施应用研究

象鼻岭水电站位于贵州省威宁县与云南省会泽县交界处的牛栏江上,水库坝高141.5m,碾压混凝土工程量为81.93万m3,地处暖温带高原季风气候,受季风、地形、低纬的影响形成复杂多变的气候特征。象鼻岭水电站大坝是目前世界上第二高碾压混凝土双曲拱坝,大坝具有工程具有规模大、技术含量高、施工要求高等特点。大坝碾压混凝土温控问题十分突出,成为质量和进度的控制关键。针对象鼻岭水电站水文气象条件、工程施工特点及大坝碾压混凝土温度控制标准,为防止建筑物有害裂缝发生,对碾压混凝土浇筑的温度控制施工技术进行了系统的研究,突破了传统的碾压混凝土温控理念,大胆采用优化混凝土配合比、降低入仓温度、通水冷却、视频监控等新工艺、新技术进行碾压混凝土温度控制,取得良好的温控效果,使碾压混凝土的施工质量得到了更可靠的保证,为类似工程项目提供借鉴和指导。     

基于结合空间拓扑和方向关系信息的空间推理

结合了定性空间推理中著名的区域连接演算（region connection calculus,RCC）和基于区域的方向关系演算（cardinal direction calculus,CDC）,并且给出两个演算在两个方向上的交互表,即RCC8-To-CDC和CDC-To-RCC8．给出了结合RCC8和CDC知识的约束满足问题的路径一致算法（path consistency algorithm）（该算法是对Allen著名的路径一致算法的修改）,并且采用两个队列实现了该算法,采用这种结构可以实现并行计算．在该算法中,基于以上两个交互表的交互操作被嵌入到算法里面来保证整个约束满足问题的一致性．算法的计算复杂性证明是多项式的,     

Spatial reasoning in a fuzzy region connection calculus

Although the region connection calculus (RCC) offers an appealing framework for modelling topological relations, its application in real-world scenarios is hampered when spatial phenomena are affected by vagueness. To cope with this, we present a generalization of the RCC based on fuzzy set theory, and discuss how reasoning tasks such as satisfiability and entailment checking can be cast into linear programming problems. We furthermore reveal that reasoning in our fuzzy RCC is NP-complete, thus preserving the computational complexity of reasoning in the RCC, and we identify an important tractable subfragment. Moreover, we show how reasoning tasks in our fuzzy RCC can also be reduced to reasoning tasks in the original RCC. While this link with the RCC could be exploited in practical reasoning algorithms, we mainly focus on the theoretical consequences. In particular, using this link we establish a close relationship with the Egg-Yolk calculus, and we demonstrate that satisfiable knowledge bases can be realized by fuzzy regions in any dimension.     

RCC8的一致分割及其算法

区域连接演算（Region Connection Calculus,RCC）是一种用于空间定性表示和推理的形式化模型,如RCC5,RCC8等,其一致性检查被证明是一个NP问题。幸运的是,在其可处理子集上,路径一致性和一致性等价,即便这样也有[O(n3)]的时间复杂度和[O(n2)]的空间复杂度。为了提高一致性检查的效率,提出了一致分割的概念,给出了其定义和成立的充分必要条件,用来将RCC8的约束图在保持一致性的前提下分割成若干个子图,分而求解各个子图的一致性;并随后给出了几种一致分割的充分条件,和相应的高效分割算法。在随机生成的大型、稀疏约束图上的实验表明了一致分割的有效性。     

Automatic assembling procedure generation from mating conditions

A method is developed to automatically generate an assembling procedure for an assembly. In this work, an assembly is described by its components and their relationship in an assembly, especially the mating conditions. From the mating conditions of the components, an assembling procedure is generated in two steps. First, each component in an assembly is located at a specific vertex of a hierarchical tree. Second, an assembling procedure is generated from the hierarchical tree with the help of interference checking.     

Whole cell profiling and identification of galectin-1 as a potential marker of renal cell carcinoma

For most cancers, the patient's prognosis improves dramatically if the disease is detected at an early stage. Although advancements in imaging technology have improved early detection, many cancers remain undetected until it is too late for curative intervention. We have established, for the first time, expression difference mapping analysis of whole cell proteins from renal cell carcinoma (RCC) cell lines using ProteinChip technology. A total of 20 different RCC cell lines were cultured in vitro directly on ProteinChip arrays for 24 h. Direct MS analysis of proteins from the attached cells showed identical protein profiles by all analysed RCC lines. Comparative on‐chip analysis of isolated malignant cells from native tumour specimens revealed protein patterns highly similar to those from the continuous RCC lines. However, cultured primary cortex cells showed specific protein differences. Differential protein profiling of isolated cytosolic and enriched membrane fractions from the RCC lines revealed that the protein pattern of the membrane proteins included or were identical to those of the entire cells. Proteomics analysis of the chip‐binding membrane fractions allowed the identification of three forms of galectin‐1 as potential RCC marker. ProteinChip analysis with a bound‐specific antibody certified that galectin‐1 could be an RCC marker. Immunostaining methods confirmed the overexpression of galectin‐1 in renal carcinoma in comparison to healthy tissue.