仿生蠕动型机器人动力学分析与仿真

为提高蠕动型机器人的适应性和行走效率,根据腹足动物蠕动原理,设计了一种可应用于人体大动脉血管介入诊疗的新型蠕动式机器人,该机器人的摩擦力控制模块使固定相与移动相的体节单元与管壁之间具有不同的摩擦系数,从而提高了蠕动效率,使机器人运动更平稳,承载能力更强。描述了机器人的结构与行走原理,分析了机器人在大动脉流场环境中的受力,利用空间算子代数方法,建立了机器人动力学模型,通过试验验证了机器人行走原理,在此基础上进一步进行了任务仿真,测试了机器人在不同环境中的动力学性能。样机试验和仿真的结果表明这种仿腹足动物蠕动式机器人达到了预期目的,而建模和仿真的方法对于其他类型蠕动式机器人也具有借鉴意义。     

多运动态可重构轮履复合式机器人机械设计

针对复杂的室外地形特征,结合轮式、履带式移动机构的运动优点,提出并研制一种可重构的具有多种运动模式的轮-履复合机器人.该机器人由控制单元、两个相同的可重构车轮、翻转机构和车体组成,具有轮式、履带式、翻转式3种运动模式.轮式工作形态,机器人为两轮机器人,运行速度快,可全方位运动;履带工作状态,机器人可以适应砾石地、沙地、草地等多种复杂地形,具备较强的越障能力;翻转工作状态,履带轮整体翻转,可跨越栏杆等垂直障碍.机器人轮-履转换由车轮内部的并联四连杆机构实现,可根据地面特征选择运行模式,根据障碍类型选择越障方式.在建立运动学和力学模型的基础上,结合数字仿真方法对结构进行了参数化研究,此设计方法优化了转换机构的运动轨迹,降低了对驱动电动机的性能要求,提高了电动机的使用效率.试验表明,机器人可通过调整自身机构以合理的运动模式通过沙地、草地等路面环境,攀越阶梯和栏杆等复杂障碍,具有良好的环境适应性和越障性能,验证了该移动平台系统设计的合理性.     

推力吸附爬壁机器人的优化设计与试验

介绍共轴式双旋翼推力吸附爬壁机器人,通过优化推力吸附机构和机架,增强负载能力、降低能耗、增加续航时间. 采用控制变量法控制推力吸附机构的气动参数如叶片数、桨叶安装角、间距比等,建立不同气动参数下机器人气动模型并进行流场仿真。基于仿真结果,完成推力吸附机构的优化设计;基于拓扑优化用构建响应面叠加多目标遗传优化算法（MOGA）、直接单目标自适应优化算法（AS-O）优化,完成机器人机架结构参数优化设计。与初始结构相比,机架上、下层板质量分别降低了55.62%、25.39%. 试验推力吸附机构和机器人攀爬能力,结果表明,推力吸附机构气动仿真结果可靠,上、下层旋翼旋转中心轴偏差与推力吸附机构性能关系密切,机器人具备良好壁面攀爬能力.     

爬壁机器人磁吸附组件优化设计与试验研究

针对工业生产需求,以安全吸附和灵活行走为设计目标,提出可吸附在钢制结构物壁面作业的爬壁机器人.阐述爬壁机器人机械结构及相关的工作原理,分别论述磁吸附爬壁轮、清洗回收组件等子系统的结构原理;为了防止机器人发生滑移、倾覆,分析爬壁机器人不同的失稳形式,建立爬壁机器人的静力学模型,得到爬壁机器人抗失稳的磁吸附力;为了确保磁吸附组件的质量最小、磁吸附力最大,通过引入磁质比,分析结构参数对磁吸附组件性能的影响,得到最优的结构尺寸.通过实验获取磁吸附组件的吸力特性和爬壁机器人的负载、运动特性,验证磁吸附组件优化设计的可行性.     

新型除锈爬壁机器人附壁建模与仿真

设计了1种永磁真空混合附壁的船舶壁面除锈爬壁机器人,该机器人负载大、本体重,机器人的附壁面法向存在水射流反冲力和真空负压压力.建立了机器人下滑和后翻两静态模型,结合船壁面法向的3种受力状态,分别对下滑模型和后翻模型进行了分析,并将两模型永磁单元所需吸附力进行了对比.仿真和实验结果表明,真空负压提高机器人附壁能力明显,可以较大地降低永磁吸附单元所需吸附力,减小机器人负载,较低的真空负压可实现辅助永磁良好附壁,在保证灵活运动的前提下吸附可靠.     

爬墙机器人研究与制作

随着高层建筑的日益增多,高空作业需求越来越大,催生了对攀壁机器人的市场需求。设计制作了一种爬墙机器人,它能够到达垂直平面的任何地方,其机械结构合理、紧凑,重量轻,行动灵活,可靠性高,有良好的人机交互接口,可进行远程遥控及自动运行。分析了爬墙机器人在墙壁上灵活运动需解决的关键问题,设计了机器人的结构及吸附和运动的方式,并基于PRO/E三维软件的模拟仿真,制作了采用真空吸附系统的多自由度壁面灵活运行机器人。实现了爬墙机器人在墙壁上可靠吸附与灵活运动的功能。     

Development and control of flexible pneumatic wall-climbing robot

A new kind of flexible pneumatic wall-climbing robot, named WALKMAN-I, was proposed. WALKMAN-I is basically composed of a flexible pneumatic actuator (FPA), a flexible pneumatic spherical joint and six suction cups. It has many characteristics of low-cost, lightweight, simple structure and good flexibility. Its operating principle was introduced. Then three basic locomotion modes, which are linear motion, curvilinear motion and crossing the orthogonal planes, were presented. The safety conditions of WALKMAN-I were discussed and built. Finally, the control system was designed and experiments were carried out. Experimental results show that WALKMAN-I is able to climb on the vertical wall surface along a straight line or a curved path, and has the ability of crossing orthogonal planes and obstacles. The maximum rotation angle reaches 90°, the maximum velocity reaches 5 mm/s, and the rotation angle and the moving velocity of WALKMAN-I can be easily controlled.     

面向配电系统的带电抢修作业机器人

面向电力行业应急救援和安全抢修作业装备发展的需求,设计了一种配电系统带电抢修作业机器人,并对其机械结构与控制系统进行了介绍。提出一种基于液压伺服驱动的6自由度机械臂的系统解决方案,通过运动学、动力学和有限元分析优化了部件结构和动力学性能,使其有效负载能力达到最大。针对作业过程中机器人本体与导线发生碰撞等引起的震荡问题,使用非对称控制方法,建立了机械臂的柔顺控制模型,降低了震荡的影响。将整体单目视觉的静态测量与双目手眼视觉系统的动态测量相结合,设计了复杂环境下目标点的高精度动态定位系统,实现了机械臂的局部自主路径规划与运动控制。通过实验验证了所开发的带电抢修作业机器人在10 kV以下配电线路应用的有效性和可行性。     

二维吸附床双组分气体传质过程数值分析

为了深入研究吸附式空分制氧的传质过程,利用Fluent数值模拟软件对二维吸附床进行了模拟研究.模型综合考虑了气体的可压缩性、吸附床的死空间以及吸附床径向空隙率的分布,模拟结果与实验值和文献值作了对比分析,结果吻合良好.分析表明,在壁面附近存在边流效应,使得吸附剂的使用率不均,通过改变颗粒直径的大小,可以有效减小边流效应的影响;吸附过程温度变化显著,对吸附过程的传质影响较大,在数值模拟中不能忽略吸附热的影响.该数值模拟方法能够比较准确地预测吸附床内的传质过程,并为吸附系统的设计和优化提供必要的支持.     

A Fast Approach for Time Optimal and Smooth Trajectory Planning of Robot Manipulators

In this paper, a fast approach to generate time optimal and smooth trajectory has been developed and tested. Minimum time is critical for the productivity in industrial applications. Meanwhile, smooth trajectories based on cubic splines are desirable for their ability to limit vibrations and ensure the continuity of position, velocity and acceleration during the robot movement. The main feature of the approach is a satisfactory solution that can be obtained by a local modification process among each interval between two consecutive via-points. An analytical formulation simplifies the approach to smooth trajectory and few iterations are enough to determine the correct values. The approach can be applied in many robot manipulators which require high performance on time and smooth. The simulation and application of the approach on a palletizer robot are performed, and the experimental results provide evidence that the approach can realize the robot manipulators more efficiency and high smooth performance.     

Joint space compliance control for a hydraulic quadruped robot based on force feedback

In the realm of quadruped robot locomotion, compliance control is imperative to handle impacts when negotiating unstructured terrains. At the same time, kinematic tracking accuracy should be guaranteed during locomotion. To meet both demands, a joint space compliance controller is designed, so that compliance can be achieved in stance phase while position tracking performance can be guaranteed in swing phase. Unlike operational space compliance control, the joint space compliance control method is easy to implement and does not depend on robot dynamics. As for each joint actuator, high performance force control is of great importance for compliance design. Therefore, a nonlinear PI controller based on feedback linearization is proposed for the hydraulic actuator force control. Besides, an outer position loop(compliance loop) is closed for each joint. Experiments are carried out to verify the force controller and compliance of the hydraulic actuator. The robot leg compliance is assessed by a virtual prototyping simulation.     

复杂环境下移动机器人路径规划与跟随

提出了一种基于改进A*算法和PID控制算法的新型移动机器人路径规划与路径跟随控制方法,该方法适用于复杂的迷宫环境。在所提出的方法中,解决了A*算法转折点过多的问题,并且通过拓展障碍物和四阶三次均匀B样条优化的方法使生成的预期路径安全且平滑;之后基于前视点的两轮差速机器人运动学模型设计了PID控制器。在专门设计的框架中测试了所提出方法的性能。作为验证,分别从路径规划与路径跟随两个方面做了详尽的实验,结果表明,规划路径转折点少且平滑,设计的PID控制器能够控制移动机器人实现较好的路径跟随效果。最后,在复杂的迷宫环境中验证了本文提出的方法,结果表明,所提出的方法能够使机器人无碰撞穿越迷宫。     

PAA-硅胶净水剂对重金属的吸附性能研究

为了解PAA-硅胶对重金属的吸附能力,对其静态吸附性能进行了测定,包括pH对吸附性能的影响、吸附平衡、重金属离子浓度对吸附性能的影响和温度对吸附性能的影响等实验．实验结果表明:PAA-硅胶使吸附达到最佳的pH分别为:Cu2+,4．0;Zn2+,5．0;Ni2+,5．5;Co2+,5．0;pb2+,4．0;在适合的pH条件下,PAA-硅胶对重金属具有良好的选择吸附性能,适用于含重金属水体的处理,对水中微量重金属的去除效率较高;温度升高有利于吸附．     

UiO-66/C复合材料的制备及其吸附性能研究

采用溶剂热合成方法,制备了金属有机骨架材料UiO-66及其UiO-66/C复合材料,对所得产物样品进行XRD和SEM以及红外光谱测试表征。结果表明,所制备样品为纯相UiO-66材料,添加碳球未改变UiO-66的晶相结构。以亚甲基蓝和甲基橙模拟染料废水,对所制备的UiO-66及其UiO-66/C复合材料的吸附性能进行了评价。实验结果表明,添加胶态碳球可显著提高UiO-66对亚甲基蓝的吸附性能,吸附容量由30 mg/g提高到67mg/g,UiO-66对甲基橙表现出优异的吸附能力,吸附容量高达226 mg/g;吸附的动力学过程符合准二级动力学方程。     

Adsorption performances and refrigeration application of adsorption working pair of CaCl_2-NH_3

Adsorption refrigeration is an environment benign and cost-effective way for waste heat recovery and solar energy utilization[1].The adsorption working pairs mainly include activated carbon-methanol, activated carbon-ammonia, zeolite-water, CaCl2-NH3, etc. The working pair of CaCl2-NH3 has such advantages as large sorption quantity and fast sorption rate[2—5]. However, it has also disadvantages of swelling, disintegration and agglomeration, which are the main obstacles to its application[6…     

多孔固体材料吸附CO2的研究进展

温室效应日渐显著,CO₂的捕集与储存（CCS）是一种潜力巨大的减排措施,其中吸附法捕集CO₂是最有前景的技术之一。多孔固体材料因其优异的CO₂吸附性能备受关注。针对吸附法脱除CO₂的研究进行综述,介绍了五种不同的吸附材料,总结了影响它们吸附CO₂的主要因素,以及改性后材料的吸附性能。结果表明,温度、压强、孔结构的改变会影响材料的物理吸附性能;还原改性、氧化改性和金属离子负载改性能够改变材料表面官能团的种类或者数量,提高了材料的CO₂吸附性能。     

煤表面电磁改性红外光谱实验研究

用建立的煤表面电磁改性实验系统对焦作朱村矿无烟煤的电磁表面改性特征进行了研究．结果表明，在不同频率的交变电磁场作用下，煤对甲烷等矿井常见气体的吸附能力明显减弱，主要表现为Langmuir吸附常数b值的降低，是一种典型的表面改性现象．开展了改性前后煤表面的傅立叶红外光谱分析，结果证明，煤表面电磁改性具有时间效应，电磁场不能永久地改变煤的内部基团微观结构。     

Gait fitting for snake robots with binary actuators

Thanks to the special physical architectures and various locomotion gaits,snake robots may offer significant benefits over traditional legged or wheeled locomotion designs in vast types of scenarios.This paper proposes an innovative snake robot with digitally-actuated Stewart platforms as its modules and mainly focuses on the simulations of various snake gaits.Three categories of fitting algorithms are elaborated in simulations of lateral undulation and Configuration-Fitting Algorithm of Four Modules is demonstrated as a universal gait fitting algorithm for all kinds of snake robots with binary actuators.Several typical snake gaits are simulated and the results demonstrate the excellent mobility of the snake robot.     

Slope Terrain Locomotion Control of a Quadruped Robot Based on Biological Reflex CPG Model

Inspired by the neuronal principles underlying the tetrapod locomotion,this paper proposed a biomimetic vestibular reflex central pattern generator(CPG) model to improve motion performance and terrain adaptive ability of a quadruped robot in complex situations,which is on the basis of central pattern generator (CPG) model constructed by modified Hopf oscillators.The presented reflex model was modified in the light of the particular joint configuration of the quadruped robot and the trot gait pattern.Focusing on slop locomotion of the quadruped robot with trot gaits,the cosimulations of the ADAMS virtual prototype,CPG mathematical expressions with vestibular reflex and Simulink control model were conducted.The simulation results demonstrated that the presented CPG controller with vestibular reflex was more efficient and stable for the quadruped robot trotting on slopes,compared with the different trotting control models.     

高层建筑外墙壁喷涂机器人的机械结构设计

为改变人工搭乘吊篮进行高层建筑外墙壁粉刷的现状,从而提高粉刷效率,减轻劳动强度,设计了一种可用于高层建筑外墙壁喷涂的机器人。该喷涂机器人采用真空吸附原理,吸附在垂直墙面上,并通过履带行走。使用远程影像传输和远程遥控实现高层建筑外墙壁喷涂的目的。