机械手自动化控制系统的开发

机械手自动化控制系统是自动化立体仓库的主要组成部分。对仓库存储系统货物选择的算法进行研究,提出了一系列优化的算法,保证能够快速、准确地进行货物存取。系统采用组态王6.51设计了机械手自动化控制系统的人机界面,对机械手采用PLC控制,且上、下位机间可以双向通讯,实现了对货物根据品种进行独立控制和管理的目的。     

Closed-Loop Control of a Manipulator Arm Using a Wrist Force Sensor

Robot force sensing and force control have been researched for several years, producing a variety of sensing methods and control strategies. Most of the published work has been theoretical in nature, with little emphasis on the practical problems encountered in the implementation of a system. This paper describes the interfacing of a 6-axis wrist force sensor to a manipulator and the design and implementation of a control system incorporating the sensor as a feedback device (in addition to existing position control).     

A Portable Microprocessor-Based Biofeedback Training Device

We have designed and constructed a portable microprocessor-based feedback instrument for speech therapy with Parkinson's disease patients. The instrument is very flexible due to its programmability and ease of interface to analog modules, Our first implemented application provides biofeedback about speech-volume levels. This device monitors speech-volume levels of a patient, provides performance feedback for the patient, and logs the performance data in its semiconductor memory. In tests on a patient with Parkinson's disease, the instrument functioned well when optimized through programming.     

Precise Tip Positioning of a Flexible Manipulator Using Resonant Control

A single-link flexible manipulator is fabricated to represent a typical flexible robotic arm. This flexible manipulator is modeled as an SIMO system with the motor torque as the input and the hub angle and the tip position as the outputs. The two transfer functions are identified using a frequency-domain system identification method, and the resonant modes are determined. A feedback loop around the hub angle response with a resonant controller is designed to damp the resonant modes. A high-gain integral controller is also implemented to achieve zero steady-state error in the tip position response. Experiments are performed to demonstrate the effectiveness of the proposed control scheme.     

铜管体专机自动上下料机械手研究与开发

为提高铜管体专机整体的工作效率,对机床自动上下料机械手进行了研究。根据铜管体专机上下料的动作要求,设计了一种单臂双爪式机械手,采用PLC作为主控制器,采用气缸作为主执行元件。文中介绍了机械手系统的总体方案、机械结构以及电气控制方法,给出了PLC的I/O地址表、外部接线图以及编程思路。结果表明:此机械手结构简单,便于调试,可实现自动上下料功能,具有很好的实用价值和经济效益。     

Development of an Autonomous Biological Cell Manipulator With Single-Cell Electroporation and Visual Servoing Capabilities

Studies of single cells via microscopy and microinjection are a key component in research on gene functions, cancer, stem cells, and reproductive technology. As biomedical experiments become more complex, there is an urgent need to use robotic systems to improve cell manipulation and microinjection processes. Automation of these tasks using machine vision and visual servoing creates significant benefits for biomedical laboratories, including repeatability of experiments, higher throughput, and improved cell viability. This paper presents the development of a new 5-DOF robotic manipulator, designed for manipulating and microinjecting single cells. This biological cell manipulator (BCM) is capable of autonomous scanning of a cell culture followed by autonomous injection of cells using single-cell electroporation (SCE). SCE does not require piercing the cell membrane, thereby keeping the cell membrane fully intact. The BCM features high-precision 3-DOF translational and 2-DOF rotational motion, and a second z-axis allowing top-down placement of a micropipette tip onto the cell membrane for SCE. As a technical demonstration, the autonomous visual servoing and microinjection capabilities of the single-cell manipulator are experimentally shown using sea urchin eggs.     

Experimental Evaluation of Dynamic Redundancy Resolution in a Nonholonomic Wheeled Mobile Manipulator

Mobile manipulators derive significant novel capabilities for enhanced interactions with the world by merging mobility with manipulation. However, a careful resolution of the redundancy and active control of the reconfigurability, created by the surplus articulated DOFs and actuation, are the keys to unlocking this potential. Nonholonomic wheeled mobile manipulators, formed by mounting manipulator arms on disc-wheeled mobile bases, are a small but important subclass of mobile manipulators. The primary control challenges arise due to the dynamic-level coupling of the nonholonomy of the wheeled mobile bases with the inherent kinematic and actuation redundancy within the articulated chain. The solution approach in this paper builds upon a dynamically consistent and decoupled partitioning of the articulated system dynamics between the external (task) space and internal (null) space. The independent controllers, developed within each decoupled space, facilitate active internal reconfiguration, in addition to resolving redundancy at the dynamic level. Specifically, two variants of null-space controllers are implemented to improve disturbance rejection and active reconfiguration during performance of end-effector tasks by a primary end-effector impedance mode controller. These algorithms are evaluated within an implementation framework that emphasizes both virtual prototyping and hardware-in-the-loop testing with representative case studies.     

Robust Iterative Learning Control Design: Application to a Robot Manipulator

This paper deals with robust iterative learning control design for uncertain single-input-single-output linear time-invariant systems. The design procedure is based upon solving the robust performance condition using the Youla parameterization and the mu-synthesis approach to obtain a feedback controller. Thereafter, a convergent iterative learning law is obtained by using the performance weighting function involved in the robust performance condition. Experimental results, on a CRS465 robot manipulator, are provided to illustrate the effectiveness of the proposed design method.     

智能机械臂的压电半主动振动控制

以在半主动控制领域具有良好应用前景的压电元件为基础,在受控机械臂上粘贴压电陶瓷(PZT)片,运用基于压电分流阻尼的振动被动控制和基于同步开关阻尼(SSD)技术的半主动控制理论,消耗机械臂振动的机械能,减小结构振动的位移幅度,从而达到振动控制的目的.     

Body Sensor Network Mobile Solutions for Biofeedback Monitoring

Body sensor networks (BSN) appeared as an application of Wireless Sensor Networks (WSN) to medicine and biofeedback. Such networks feature smart sensors (biosensors) that capture bio-physiological parameters from people and can offer an easy way for data collection. BSNs also need suitable interfaces for data processing, presentation, and storage for latter retrieval. As a result, Bluetooth technology can be used to communicate with several more powerful and graphical user interface (GUI)-enabled devices such as mobile phones or regular computers. Taking into account that people currently use mobile and smart phones, it offers a good opportunity to propose a suitable mobile system for BSN networks. This paper presents a BSN mobile solution for biofeedback monitoring using the four major smart phone platforms: Symbian, Windows Mobile, Android, and iPhone. As case study, a sensing health with intelligence modularity, mobility and experimental reusability (SHIMMER) platform with a core-body temperature sensor enabled to construct the BSN was used. The four mobile applications were evaluated and validated, and are ready for use.     

高速高精度定位机构的优化设计

提出了一种新型2-自由度(2-DOF)高速高精度平面并联定位机构。首先考虑机构的运动学性能,基于雅可比条件数进行了机构构型的优化设计,并以全局性能指数为目标,得到了机构的最佳工作空间位置及形状;然后提出一种用于高速度和高精度机构的优化目标函数,进行了机构的结构尺寸参数优化。仿真结果显示,优化设计后的机构可实现高速高精度,具有较好的运动学性能。这种优化设计方法对此类结构的设计具有指导意义。     

两自由度柔性臂压电陶瓷抑振方案优化设计

振动控制是柔性臂控制的主要任务。两自由度柔性臂系统是非性线系统，并且存在强运动耦合，模型复杂。因此有效的抑振方案对柔性臂控制至关重要。该文以两自由度柔性臂残余振动分析为依据，对压电陶瓷作动器与振动传感器的布置位置进行了优化设计，提出了压电陶瓷作动器与振动传感器相结合的抑振方案。实验证明这种抑振方案是有效的。     

凸轮式锂电池叠片机械手研制

随着锂离子电池应用的迅猛发展,对其相应的生产设备的需求也日益扩大.本文设计的机械手是锂离子动力电池叠片机的核心执行部件,用于实现锂电池的高速、高精度自动化叠片.在分析具体工艺要求的基础上,设计完成了一种新型的基于凸轮连杆机构的两自由度机械手,并通过SolidWorks软件进行了实体建模,然后通过ANSYS软件对机构进行...     

串联机械臂运动控制系统设计

由于加工装配的累积误差,驱动控制,机械臂的柔性变形以及实际工作环境中振动等因素的干扰,导致无法准确获取机械臂的运动学模型和动力学模型,导致机械臂实际的运动性能与期望的高精度运动性能相比出现较大的差距。针对上述问题,文中通过研究串联机械臂轨迹优化算法,设计了一套简单且实时性的机械臂控制变量补偿系统,以减少甚至消除机械臂的运动学误差。这一技术的实现,将对提高装备制造业中机械臂运动精度关键技术的发展起到推动作用。     

An Experimental Study of a Redundantly Actuated Parallel Manipulator for a 5-DOF Hybrid Machine Tool

This paper deals with the experimental study of a redundantly actuated parallel manipulator for a 5-DOF hybrid machine tool. Based on the kinematics of the redundantly actuated parallel manipulator, the inverse dynamics is derived by using the virtual work principle. A position and force switching control strategy is used for the two extendible chains of the parallel manipulator. Further, the difference predictive control is presented for the extendible chain with force mode. The parallel manipulator is incorporated into a 5-DOF hybrid machine tool. Linear and circular contouring experiments of both the hybrid machine tool as well as its corresponding nonredundant counterpart with the redundant limb removed are conducted to evaluate the machine performance. Finally, the machine experiment is used to demonstrate the machine's applicability.      

气动机械手PLC电路的设计浅析

针对气动机械手PLC电路功能的设计进行探究,分析气动机械手PLC电路操作面板的设计以及PLC选型设计,最后指出气动机械手PLC电路的程序设计的相关建议,以期能够为启动机械手PLC电路的设计提供一定的参考价值.     

广义加权最小二乘法在移动机械手上的应用

文章基于实验室打乒乓球的实际情况,对目标点即击球点姿态进行了降维处理,并在此基础上,成功地将广义加权最小二乘法应用到移动机械手上.在应用过程中,对阻尼系数进行了研究,并在最后,对这种方法进行了仿真和分析.     

柔性臂动力学建模及比较研究

根据广义坐标的不同定义应用Lagrange方程建立了两种表达形式的水平面内转动的两自由度柔性机械臂动力学模型；分析了两类方程的不同特点和适用领域；将模型的仿真结果和实验结果进行对比分析，验证了模型的准确性；为柔性臂动力学分析和下一步研究提供了理论指导及重要的前提条件。     

仿生机械臂的小脑控制模型和仿真

提出了一种控制模拟仿生机械臂延伸运动的小脑学习模型.该模型在已知小脑结构的基础上,利用脊髓反射线路的伺服机制,将神经网络嵌入模拟哺乳动物运动的控制系统中,用以控制一个６肌肉块２关节的平面手臂,真正从生物学意义上实现了由Katayama和Kawato提出的并行分层控制的有关论述,并且证明能够迅速地学会精确轨迹控制.仿真结果表明,该小脑模型能够很好地学习不能由PDF＋F控制器所提供动态逆模型的相关内容,且具有较好的理想轨迹跟踪性能.     

电子束曝光机传输片机械手研制

以前的传输片机械手由于采用双浮动滑板结构来实现各个状态的定位,长时间使用易导致机械磨损、弹簧应力疲劳等,出现机械手碰撞片夹或抓不到片等现象,难以实现高精度、高可靠性的定位。研究中的传输片机械手采用卡尔登直线运动机构配合两根导向动轴以达到长期运行的稳定性及可靠性,克服了原传输片机构存在的上述问题,且动作过程有所简化,机构体积大大缩小,动作可靠性和准确度显著提高。介绍了传输片机械手的功能、组成及其结构设计,叙述了传输片机械手的动作原理和系统控制流程。