一种用于微型工厂的毫米级全方位移动微机器人设计与分析

介绍了一种毫米级全方位移动微机器人,尺寸为9mm*8mm*8mm。独特的双轮设计实现了转向时与地面的滚动摩擦。驱动器为3个直径2mm的电磁微马达,其中2个用于直线驱动,另一个用于转向。运动受力分析揭示了微马达驱动力矩与双轮结构尺寸及各种摩擦之间的关系。仿真计算及实验表明微机器人具有良好的负载能力,能够满足微型工厂中的搬运操作要求。     

Design and Control of a Four‐Wheeled Omnidirectional Mobile Robot with Steerable Omnidirectional Wheels

Omnidirectional mobile robots are capable of arbitrary motion in an arbitrary direction without changing the direction of wheels, because they can perform 3 degree‐of‐freedom (DOF) motion on a two‐dimensional plane. In this research, a new class of omnidirectional mobile robot is proposed. Since it has synchronously steerable omnidirectional wheels, it is called an omnidirectional mobile robot with steerable omnidirectional wheels (OMR‐SOW). It has 3 DOFs in motion and one DOF in steering. One steering DOF can function as a continuously variable transmission (CVT). CVT of the OMR‐SOW increases the range of velocity ratio from the wheel velocities to robot velocity, which may improve performance of the mobile robot. The OMR‐SOW with four omnidirectional wheels has been developed in this research. Kinematics and dynamics of this robot will be analyzed in detail. Various tests have been conducted to demonstrate the validity and feasibility of the proposed mechanism and control algorithm. © 2004 Wiley Periodicals, Inc.     

毫米级全方位移动微型装配机器人设计、运动学分析与控制

介绍了一种用于微型工厂的毫米级移动微装配机器人,其具有独特的全方位运动结构．微机器人由4个直径3 mm的电磁微马达驱动,并装备有一对微型夹钳．通过分析运动学矩阵的秩,证明了微机器人的全方位特性,并建立了微夹钳的运动学方程．设计了基于计算机视觉的微机器人控制系统,给出了微机器人定位和驱动方法．实验证明了微机器人的负载能力、机动性以及控制系统的有效性．     

Design Optimization of a Bionic Fish with Multi-Joint Fin Rays

This paper aims to design a novel bionic fish propelled by oscillating paired pectoral fins. Flapping motion deformation of the nature sample, the cow-nosed ray, is realized with simple mechanical structure through optimization. Locomotion analysis of the nature sample under linear cruise swimming conditions is carried out. Simplified mathematical models of the pectoral fin are obtained to be the design foundation of the bionic fin rays and the bionic fish. The number of fin rays is decided according to the passing kinematic wave shape and number. Distance and structure parameters are optimized, and determined by the minimum area error method. A novel two-stage slide–rocker mechanism is designed to fulfill the driving requirements with only one servo motor. System design of a new bionic fish robot is presented, including the mechanical design and the control method. Main bionic characteristics extracted from the cow-nosed ray are fulfilled by the prototype and verified by experiments.     

Velocity Control of an Omnidirectional Wheeled Mobile Robot Using Computed Voltage Control with Visual Feedback: Experimental Results

International Journal of Control, Automation and Systems - In this paper, we propose a novel computed voltage based control law for an omnidirectional wheeled mobile robot equipped with four...     

Development of a control system for an omni-directional vehicle with step-climbing ability

This paper proposes a control method for wheels to pass over rough terrain. In our previous work, we have developed a holonomic mobile mechanism capable of running over steps. The mechanism realizes omni-directional motion on a flat floor and passes over uneven ground in forward and backward directions. The vehicle has seven special wheels with cylindrical free rollers and two passive body axes that can adapt to rough terrain. Seven actuators are located in each wheel; therefore, our vehicle system requires the rotation velocity of each wheel to be coordinated. However, it is difficult to keep such coordination among the wheels — as the vehicle passes over the step, the load applied to the wheel tends to heavy and irregular. Therefore, we propose a new control system for synchronization among the wheels. In this paper, the following two topics are discussed: the load adjustment so as not to exceed the maximum torque of the actuator in some of the wheels and keeping the balance of rotation velocity among the wheels. Our novel control method adjusts the output value by referring to the state of the other wheels. The performance of our system is investigated by means of computer simulations and experiments using our prototype vehicle.     

一种MEMS胎儿心率测量仪的设计与仿真

针对传统胎儿心率测量仪价格昂贵、对胎儿具有一定副作用等缺点,运用MEMS加速度传感器,设计了一个高安全性的便携式胎儿心率测量仪。设计了加速度信号低通滤波放大电路并在ORCAD上进行了仿真,仿真结果表明该低通滤波电路能够较好的得到低频率胎心率信号。对于胎儿心率信号采用自相关函数法和频谱分析相结合的信号处理算法,MATLAB仿真结果表明此算法能有效的去除噪声。     

Wall-Climbing Robots with Permanent-Magnet Contact Devices: Design and Control Concept of the Contact Devices

Journal of Computer and Systems Sciences International - The basic types of wall-climbing robots that use permanent magnets as locking devices are reviewed. The robots that use various locomotion...     

Design,Development, and Mobility Evaluation of an Omnidirectional Mobile Robot for Rough Terrain

Omnidirectional vehicles have been widely applied in several areas, but most of them are designed for the case of motion on flat, smooth terrain, and are not feasible for outdoor usage. This paper presents the design and development of an omnidirectional mobile robot that possesses high mobility in rough terrain. The omnidirectional robot consists of a main body with four sets of mobility modules, called an active split offset caster (ASOC). The ASOC module has independently driven dual wheels that produce arbitrary planar translational velocity, enabling the robot to achieve its omnidirectional motion. Each module is connected to the main body via a parallel link with shock absorbers, allowing the robot to conform to uneven terrain. In this paper, the design and development of the ASOC‐driven omnidirectional mobile robot for rough terrain are described. A control scheme that considers the kinematics of the omnidirectional mobile robot is presented. The mobility of the robot is also evaluated experimentally based on a metric called the ASOC mobility index. The mobility evaluation test clarifies a design tradeoff between terrain adaptability and omnidirectional mobility due to the shock absorbers. In addition, an odometry improvement technique that can reduce position estimation error due to wheel slippage is proposed. Experimental odometry tests confirmed that the proposed technique is able to improve the odometry accuracy for sharp‐turning maneuvers.     

一种小型轮式平台的设计与运动仿真

针对传统轮式车辆转向半径大,转向阻力大的问题,提出一种新型的轮式车辆平台方案。该平台的运动机构由定轴转动的前轮和万向轮后轮组成,主动轮是由轮毂电机独立驱动的前轮,后轮为从动轮;平台采用电驱动,包含电源系统,控制系统,车体等几大部分,相比于传统的车辆,该平台引进了万向轮,大大加强了平台的灵活性,转向更加方便;通过在Solid Works中建立模型,然后在RecurDyn中进行仿真,设置不同的实验条件,根据实验结果可以得到:当后轮为万向轮时,平台相对于后轮固定具有较好的转弯能力,横摆角速度减小,平台转弯更加平稳;同时,平台具有一定的越障能力,可以在一定的复杂地形上完成运动,能够跨越一定尺寸的壕沟。这一结果可以为科学研究和实际应用提供理论依据。     

Design and Optimization of an XYZ Parallel Micromanipulator with Flexure Hinges

In this paper, a nearly decoupled XYZ translational compliant parallel micromanipulator (CPM) is designed for micro/nano scale manipulation with features of piezo-driven actuators and flexure hinges. The CPM structure improvement is made to enlarge the workspace and eliminate or reduce the stress stiffening, buckling phenomenon, and parasitic motions of the original XYZ CPM, which leads to a new CPM with a more compact structure. The CPM kinematics, parasitic motions, and workspace are determined analytically, and the mathematical models describing statics and dynamics of the CPM are established to evaluate its related performances, which are verified by the finite element analysis (FEA) undertaken in ANSYS environment. Based on the analytic models, the CPM dimensions have been optimized by resorting to the particle swarm optimization (PSO) approach, which produces a CPM having minimum parasitic motions and satisfying other performance specifications as validated by the FEA simulations.     

面向目标搜索的轮式机器人的设计与研究

应用嵌入式技术、无线传输技术和图像处理技术,设计搜救机器人,为防灾救灾提供技术服务.采用ARM 11微控制器LM3S9B96设计机器人和手持终端,机器人通过所携带的摄像头采集图像并进行压缩后,通过wifi传输给手持终端;手持终端用TFT液晶屏显示所接收到的远程图像信息,并通过用户界面通过wifi向机器人发送控制命令;机器人根据命令控制自身的运动以及摄像头的转动.实验结果表明,采集的图像清晰、命令执行及时可靠,能够较好地完成目标探测、搜索等任务.     

奥运电动客车AMT ECU电磁兼容设计

实现“绿色奥运,科技奥运,人文奥运”的目标,需要研制、生产纯电动客车。该车采用了自动机械换档系统（AMT）。由于纯电动客车为强电环境,AMT电子控制单元（ECU）必须进行电磁兼容设计,以满足AMT的系统要求。采用了元器件选型技术、多层板布线技术、箱体设计技术、电缆屏蔽处理技术等进行电磁兼容设计。设计的AMT系统ECU电控单元通过了电磁兼容检测试验。实践表明,满足电磁兼容设计的ATMECU工作正常,为奥运提供了合格的产品,得到了用户的高度好评。     

加法器溢出处理的优化设计与实现

本文提出了一种带溢出处理功能的加法与分支模块的新结构。这种结构无需等待特定的溢出判断信号,从而减少了溢出处理的延时开销。本文主要针对关键路径上控制信号的竞争问题,提出了两种解决方案。基于数学的角度重新分析各控制信号与数据输入之间的关系,把较早到达的0或1提前参与运算。而把较晚到达的0或1推迟参与运算,利用前一级运算的时间生成晚到的控制信号,成功地解决了关键路径上控制信号的竞争问题。此设计在0.13μmCMOS工艺中实现,版图后仿真最大延时为590ps,较之前结构减少了210ps,达到预期优化目的,实现了时序收敛,有效地提高了加法器的运算效率。     

空间机械臂电磁制动器温升最优设计及热真空实验

采用遗传算法几何惩罚函数的方法对空间机械臂制动器电磁线圈温升进行了优化设计.首先针对空间机械臂电磁制动器对电磁力、电流以及磁场强度的限制要求,以温升为目标推导出优化模型.然后针对优化模型约束非线性问题,提出遗传算法结合惩罚函数的优化方法.本方法可在解决全局优化问题的同时保证计算过程中的解总是可行解.优化结果显示,线圈温升大大降低.最后,将制动器置于热真空环境模拟设备中,测出电磁制动器线圈温升曲线.实验结果显示,测得温升值与优化设计得出目标温升值基本吻合,验证了方法及设计的正确性.     

多移动机器人轨迹跟踪控制系统设计与实现

针对轮式移动机器人的轨迹跟踪控制问题,在分析了机器人运动学模型的基础上,构建多机器人的领航-追随模型;采用跟踪微分器在输入输出两端安排过渡过程,设计了一种基于多变量解耦的非线性PID轨迹跟踪控制器;搭建以Arduino Mega 1280控制板为核心的移动机器人实验平台,采用速度PID控制器以满足机器人驱动电机的实时调速要求,基于ROS提出一种结构化和模块化的多机器人控制系统;在此基础上进行实验,并将实验结果与传统PID方法控制的实验结果进行对比;实验结果验证了文章所提算法的有效性,控制器易于实现且具有一定的鲁棒性。     

电磁屏蔽技术的分析与设计

在现实生活中由于干扰普遍存在，人们为避免干扰而想尽了各种屏蔽方法，但效果并不理想。本文在分析各种干扰源性质的基础上，分别对电场屏蔽和磁场屏蔽进行了详细的介绍，以实现最佳的抗干扰效果。最后对电子仪器的屏蔽进行了设计。应用表明，屏蔽具有良好的效果。     

基于红外传感器的两轮桌面机器人设计实现

为了验证红外传感器作为姿态检测的可行性,又能满足经济性要求,设计了一种基于红外传感器的两轮桌面式小型机器人WillBot-Ⅱ,此机器人通过红外传感器检测与地面之间的距离来达到姿态检测的目的,此种方法大大节约了传感器的成本,同时克服了零点漂移现象,能够有效准确地对姿态进行检测.首先介绍了机器人的系统构成,包括机械结构部分...     

电磁诱导农用喷雾机器人路径导航系统的设计与实现

针对温室内农药喷洒作业自动化的需求,设计了一种电磁诱导式农用喷雾机器人路径导航系统．采用数字波形合成技术设计实现了基于ARM7单片机的信号发生器系统．研制了机器人位置检测传感器和以霍尔芯片为核心的磁标志检测传感器．利用信号发生器和传感器成功实现了喷雾机器人的导航控制．