周边智能化辅助实现的协作机器人速度与分离监控

安全是协作机器人应用的首要因素。为了防范人机协同操作时发生运动碰撞的风险,ISO/TS 15066提出了速度和分离监控(SSM)的人机最小间距保护机制。SSM需要面对高度非结构化和动态不确定性的协同操作场景,协作机器人自身难以有效应对由此带来的技术挑战。针对实现协作机器人SSM的需要,依照人机协作场景智能化的技术路线,分析了协作机器人速度与分离监控的技术难点问题,提出了辅助实现速度与分离监控的周边智能化架构,讨论了支配协作机器人安全适用状态演化的有限状态机模型,探讨了人机协作场景感知的设备无关技术。     

人机协同制造系统可靠性试验与评估

人机协同制造系统可靠性对系统的运行具有重要影响,在建立人机协同制造系统可靠性模型基础上,提出人机协同制造系统可靠性试验与评估方法.利用某人机协同制造系统可靠性增长试验中积累的可靠性试验数据,估算出系统目前的可靠性指标,研究结果表明,该方法在系统可靠性分析中合理可行.     

基于公理设计的人机协作数字孪生建模技术

人本智造是未来智能制造发展的重要方向，安全可信的人机协作是实现人本智造的基础。数字孪生所强调的以虚映实和以虚控实的思想与以人为核心的人机协作需求相匹配，为面向人本智造的人机协作新范式转变提供了新思路。目前欠缺关于人机协作数字孪生模型建模方法的研究，以满足数字孪生技术在人机协作领域中的应用需求。提出面向人机协作智造的数字孪生建模技术，从机器人模型和协作人员模型两方面展开人机协作模型建模机理分析。首先分析了机器人模型和协作人员模型具备的特征，在此基础上提出机器人模型和协作人员模型的基本组成结构，为人机协作数字孪生模型构建提供理论支持；建立了基于公理化设计理论的人机协作模型构建框架，提出了人机协作数字孪生模型的建模步骤；最后，以人机协作抓取数字孪生模型的构建过程为例，详细介绍了模型的构建过程，验证了所提方法的可行性。     

基于数字化人的柔性制造系统的研究

基于人机一体化思想,在计算机技术和无线移动通信技术的支持下,将“数字化人”的概念引入柔性制造系统车间中,在此基础上构建了数字化人-机协同柔性制造系统,给出了整体结构图,并详细研究了数字化人-机协同柔性制造系统中的关键技术:基于Web服务技术和移动技术的新型数控系统、蓝牙移动自组网技术、基于多Agent移动计算的人机协同管理调度技术.最后,通过一个实例实现了基于数字化人的人机协同柔性制造过程.     

人机协同的物流系统研究

针对现代工程技术领域人机一体化系统理论的发展和人机一体化柔性制造系统的研究，提出了先进制造环境中人机协同物流系统的概念，给出了人机协同物流系统的概念模式和体系结构，分析了其中的人机功能分配和人机界面的特点，探讨了人机协同物流系统的设计方法，并简要介绍了一个应用实例。     

增强现实辅助的互认知人机安全交互系统

在现代制造业中,人和机器人的交互共融是制造智能化的焦点问题之一。在人机交互中,机器人对工人的伤害风险是影响安全生产的关键因素。然而,在动态、不确定性的人机交互环境中,目前的人机安全交互系统仍然是基于机器人对环境的感知实现被动避让,缺乏基于互认知的自适应决策。为提高人对环境的认知能力,并增强机器人的自主避让和自适应能力,设计并实现了一种基于可穿戴增强现实技术的互认知人机安全交互系统。其中,可穿戴增强现实设备作为人机交互的媒介,实现机器人的虚实注册和工作环境的虚拟映射,收集人、机器人和作业空间的信息,实时为操作人员和机器人提供互认知辅助。互认知人机安全交互系统从三个方面确保人机安全：根据人机距离的机器人速度控制和安全区域可视化;虚实映射的运动预览和碰撞检测;基于深度强化学习的机器人避障策略。最后,通过搭建原型系统验证了所提出系统设计方法的可行性,以期促进先进人工智能技术与人机交互技术的融合发展,实现人机共融、安全协作。     

考虑人误的人机干涉排队网络模型研究

以单元制造系统作为研究背景,探讨一人多机情况下单元制造系统性能的评价问题。根据实际机加单元工况,将操作工人在操作过程中存在的两类失误分别定义为可修复和不可修复性人误,并建立人误排队网络模块。在此基础上建立考虑人误的零件/机器开环排队网络模型和机器/工人闭环排队网络模型,描述考虑人误时的人机干涉机制;并以此为基础给出了考虑人误的单元制造系统人机干涉性能评价计算流程;利用提出的模型和方法对一个实际工程案例进行了仿真研究,研究结果表明:当考虑人误时,人机比变化对系统人机干涉影响最为显著,而人机作业比越大,系统对人误的承受能力就越低,即上料/下料操作失误会导致人机干涉水平增强,也会增加操作人员的作业负荷。     

基于人机协同模型的生产单元组织配置仿真

为优化生产单元的组织资源配置方式,将多主体建模与制造过程仿真相结合,建立了生产单元的人机协同仿真模型,给出了模型的结构框架、主体模型结构和模型集成技术.基于人机协同仿真模型,以某摩托车发动机关键零部件的典型生产单元为例,对制造团队的技能类型、技能水平和人机分工方式进行了仿真研究.仿真结果表明,操作人员技能等级以及操作员之间的协同工作方式对订单完成时间均具有显著影响,人机协同仿真模型可实现对各种组织资源配置方案的动态和定量评价,从而帮助制造团队对组织资源的培训及分配进行优化决策.     

协作机器人在高压带电作业中的应用研究

高压带电作业机器人能减轻作业人员的劳动强度,提高了作业效率,最大程度保证了作业人员的安全。协作机器人具有安全可靠、人机协作、操作简便、部署灵活等特点,其在高压带电作业中的应用前景十分广阔。介绍了高压带电系统总体方案的组成,对协作机器人的关键技术包括一体化关节模块的软、硬件设计;轨迹规划的算法;操作系统及其实时性设计进行了详细的阐述。研制的协作机器人进行了一系列性能测试和试验,测试和试验结果表明所设计的协作机器人能满足高压带电操作的各项要求。     

人机一体化智能系统理论及应用研究探索

为了克服目前智能系统研究存在的局限性,提出建立人机一体化智能系统的新方法,并建立人机一体化智能系统模型,提出人机一体化智能系统的三种实现方法,即在比较适合于人完成任务的情况下,采用“人主机辅”策略实现;在比较适合于机器完成任务的情况下,采用“机主人辅”策略实现;在人、机完成都比较困难的情况下,采用“人机协同”策略实现。汽车驾驶是一件非常复杂的操作,为了提高汽车驾驶的可靠性、安全性,提出了人机一体化智能驾驶的新方法,并以人机一体化智能驾驶模拟系统为例,进行了人机一体化智能驾驶的模拟试验研究。结果表明人机一体化智能驾驶具有很大的可行性和优越性。     

Component-based modeling of enterprise architectures for collaborative manufacturing

Agility and collaboration are key factors in collaborative manufacturing. An enterprise architecture (EA) framework for collaborative manufacturing has to support agility and have the ability to increase opportunities for collaboration. In this paper, an architecture-unit-based enterprise architecture (AUEA) framework is introduced for collaborative manufacturing. It supports the agility and collaboration ability of the EA using architecture units (AUs) and semantics of the metamodel. Each AU is a business-driven minimum EA component which consists of the components in predefined reference models of specific domains and the associations between domains and domain drivers. Because AUs enable the easy composition of a business-driven EA, the AUEA framework is agile. The semantics of the metamodel in AUEA frameworks are modeled using object-oriented and fact-oriented methods. The semantics and AUs enhance opportunities for collaboration. As an example of an AUEA in collaborative manufacturing, an EA for a supply chain on the basis of the supply-chain operations reference (SCOR) model is implemented in this paper.     

物理性人-机器人交互研究与发展现状

介绍了物理性人-机器人交互的定义,对该过程可能对人造成的伤害进行了分析,给出了物理性人-机器人交互安全评价指标,并总结了目前该领域采用的安全策略。综述了国内外在物理性人-机器人交互方面的研究进展,在分析物理性人-机器人交互研究现状的基础上,阐述了该领域面临的问题和挑战。文章指出,目前物理性人-机器人交互伤害分析和安全评估研究主要集中在钝/锐碰撞造成的骨骼和软组织伤害上,缺乏对脏器、血管、神经等损伤的研究。安全策略主要方法有碰撞避免、包裹软弹性材料、关节柔顺设计等。通过对比各种安全策略的设计思想和组成方案,总结出了各种策略的优缺点和存在的主要问题。由于现有的研究表明单一的手段和策略无法保证人-机器人交互的安全性,提出将认知性人-机器人交互和物理性人-机器人交互相结合来增强后者的安全性将是未来发展的方向。     

面向制造协作联盟的时序约束制造任务跨度研究

针对协作制造联盟的制造任务,分析了制造任务规划与制造资源配置之间的关系,建立了时序约束制造任务跨度模型.从制造任务协作成本、生产周期与任务分解方案3个方面出发,定性、定量地分析了影响时序约束制造任务跨度规划的问题,建立了影响因素与任务跨度之间的数学关系式,得出了最优的任务跨度值.从这些拟定量分析的结果出发,得出一些有益于协作制造任务规划的结论.     

Synchronised Web Applications for Product Development in the 21st Century

Product development continues to be at the core of manufacturing industries and the heartland of global competition in the 21st century. The e-commerce technologies will have a profound impact on the practice and performance of product development. This paper examines the roles of web applications in collaborative product design and manufacture. The emphasis is placed not only upon the geographical and disciplinary dimensions, but also on the time dimension of collaboration. A case study is used to demonstrate how synchronised web applications can be used to facilitate collaborative product definition. The project team members share the common work-space that maintains the integrity and consistency of product and process information.     

Internet-based collaborative product development chain for networked product development

Product development in the manufacturing industry has been facing unprecedented challenges brought about by ever-changing global and competitive market conditions as well as changing individual customer demands. As manufacturing enterprises become more specialized, they need to communicate and work concurrently on a large volume of product data covering their factories, sub-contractors as well as suppliers. The collaboration and cooperation between enterprises is changing from a supply chain based on material flow to a collaborative product development chain based on task flow. Computer network technologies, especially the Internet, have injected velocity into product development activities and enabled companies to shift their traditionally centralized product development philosophy to networked product development philosophy. This paper introduces a new paradigm called Internet-based collaborative product development chain (ICPDC) to answer the aforementioned needs of current product development. It connects users in geographically different locations to carry out product development activities simultaneously and collaboratively using a series of tools, including product management tools, workflow management tools, and project management tools. Some key aspects of the ICPDC, including its concept, collaboration mechanism, constituents and fashioning principle, are introduced in detail. Furthermore, a framework for the ICPDC based on a Brower/Server is proposed. Finally, a prototype is implemented using web services technology and .Net programming language to demonstrate the feasibility of the structure and the collaborative approach that has been developed.     

面向网络化制造的中小企业协同管理平台研究

针对网络化制造模式下中小型企业协同管理的需求,并基于企业协同工程和系统工程适用性,提出了一个基于协同管理中心的企业协同管理平台的系统解决方案.该系统覆盖网络化制造协同联盟的设计、制造、组织、资源和过程管理控制等环节中的关键业务,实现组织、产品、过程和资源的协同管理.从网络化制造的特点出发,给出了协同管理的模式、平台系统体系结构、特征和总体技术结构;重点解决了协同规划、协同联盟成员选择与匹配、信息交换、访问控制、协同过程管理控制、系统封装以及通信等方面的问题;最后讨论了所建立的原型系统及其应用实例.     

基于过程管理的协同质量保证技术研究

在综合分析ISO9000质量保证体系结构、系统运行机制和设计特点的基础上，对建立基于过程管理的协同质量保证系统所涉及的关键支撑平台、仿真技术、体系结构和实现方法进行了研究。说明了基于Petri网的质量保证流程在网络化制造中的一般交互过程，在此基础上开发了原型系统。     

Reconfigurable modular automation systems for automotive power-train manufacture

This paper describes research towards the realization of reconfigurable modular automated machines and the associated engineering methods and tools necessary to support their lifecycle needs. UK-based research, in collaboration with the Ford Motor Company and several machine builders, has resulted in the development of full-scale prototype reconfigurable modular automation systems for both engine assembly and machining applications. The implementation of an assembly system is featured in this paper. An engineering environment and associated reconfigurable component-based control system architecture have been created aimed at supporting the lifecycle needs of a new generation of agile automated systems, i.e., providing reconfigurable, easily scalable automated machinery. This approach has the potential to fit within a wider collaborative automation strategy where manufacturing systems are implemented as a conglomerate of distributed, autonomous, and reusable units.     

Tool deflection error compensation in five-axis ball-end milling of sculptured surface

Manufacturing of aircraft structural parts have the characteristics of complex process, large variety, small batch, and frequent change of production status. In order to shorten lead time and reduce cost, high-efficiency communication and collaboration among manufacturing departments are required. However, in the existing research literature, tool/fixture design, manufacturing simulation, and online machining process monitoring are not fully taken into account for collaboration. In order to address these challenging issues, this paper proposes a collaborative manufacturing framework based on machining features and intelligent software agents. The components of the proposed framework include a machining process planning agent, a numerical control (NC) programming agent, a simulation and verification agent, a tool/fixture design agent, a cost estimation agent, a production management agent, and an online machining process monitoring agent. Machining features are used as information carrier for communication and collaboration among these agents. This paper particularly focuses on the collaboration between tool/fixture design and NC programming, as well as the collaboration between online machining processes and related departments. The proposed approach has been implemented through a prototype system and tested in a large aircraft manufacturing enterprise with some very promising results.