鞋胶喷涂的路径生成与优化

为了实现鞋底涂胶自动化,提出一种在三维鞋底曲面上自动生成鞋胶喷涂路径的方法,其对非平面、不同形状的鞋型均可适用.该方法首先使用FastMarching算法对预处理过后的三维扫描鞋底曲面模型计算测地距离,得到鞋底外轮廓的等距线;再将等距线断开重新连接形成一条连续螺旋路径;在连接螺旋路径时,针对鞋底形状特点确定最佳断开位置,并提出一种连接策略,使相邻等距线连线更加平滑;为使该螺旋路径更加符合实际喷涂工作需求,通过设计带光滑的能量项,运用拉格朗日乘子法对路径及喷头朝向进行优化.在三维扫描得到的鞋底数据上实验表明,该方法可自动高效地生成鞋底喷胶路径.     

基于PH曲线的Delta机器人轨迹规划方法

针对Delta并联机器人高速作业时笛卡儿空间轨迹不平滑的问题,提出一种基于毕达哥拉斯速端曲线（PH曲线）的轨迹规划方法．首先,利用PH曲线平滑竖直运动与水平运动间的直角过渡部分,确定拾放操作轨迹;然后,利用多项式运动规律对轨迹的1维曲线位移进行规划,确定运动轨迹插补点的位置;最后,以最小化拾放操作周期为目标优化PH曲线参数,得到平滑的运动轨迹．仿真分析表明,基于该方法的拾放操作具有较短的运动周期,轨迹平滑且有较平稳的运动特性;实验结果表明,Delta机器人能够以90次/分钟的速度进行抓取操作,实现了并联机器人的高速作业．     

一种新颖的笛卡尔空间轨迹规划方法

本文通过对螺旋理论和空间样条曲线生成原理的有机结合，提出了一种“虚拟关节” 的概念，在此基础上给出了一种新颖的笛卡尔空间的机器人轨迹规划方法．由于这种方法综 合了关节空间轨迹规划和笛卡尔空间轨迹规划各自所具有的优点，因此既简单又直观．而且 ，利用该方法可以很容易地得到一条经过所有控制点并满足所要求边界条件的空间轨迹．为 验证其有效性，本文基于一种9自由度模块化机器人平台给出了具体的实验方法和结果．     

基于近似弧长参数化的机器人轨迹规划

主要研究了采用近似弧长参数化的插值方法进行关节式工业机器人的轨迹规划.运用近似弧长参数化的插值方法将机器人末端轨迹参数曲线离散为等弧长的插值点序列,通过机器人逆向运动学求解各关节的位移点序列,采用极限的方法进行各关节速度和加速度规划.这种轨迹规划方法可以避免关节空间的插值计算和雅克比矩阵的计算.在 matlab7.8平台上,对近似弧长参数化的插值方法、轨迹规划及可行性验证进行了实例仿真,仿真结果表明该轨迹规划方法是可行的.     

小型智能涂胶机器人建模与控制系统设计

为使涂胶机器人可涂任意鞋底轨迹,提出带摄像头的智能涂胶机器人.设计机构模型,利用齐次变换矩阵建立运动学模型,并进行Simulink运动仿真.控制器采用2层递阶的DSP加PC机结构,USB摄像头捕获鞋底图像,VC++实现边缘提取,并通过坐标变换得到机器人关节轨迹.DSP直流无刷电机控制器采用增量PID闭环控制算法.在自主...     

考虑能耗的煤矿井下水仓清挖机器人轨迹规划方法

井下环境的复杂性容易造成水仓清挖机器人行驶路径出现偏差,导致其能耗过高。为提升清挖机器人清挖效率,优化其轨迹规划性能,提出了考虑能耗的煤矿井下水仓清挖机器人轨迹规划方法。该方法基于B样条插值函数获取机器人动力学方程,完成机器人动力学分析;利用贝塞尔曲线方法对机器人光滑轨迹实施拟合,规划出机器人运动轨迹;在考虑清挖机器人能耗的情况下,采用粒子群算法对规划轨迹进行优化,确定最优规划轨迹,达到降低机器人能量消耗的目的,完成最终轨迹规划。实验结果表明,所提方法在有效避开障碍区域的同时实现了最优轨迹规划,且规划路径长度较短,规划时间短,可以更快地实现清挖工作。     

柔性空间机器人振动抑制轨迹规划算法

本文首次提出了一个描述柔性空间机器人振动的可直接计算的激振力指标，进 而提出了柔性空间机器人抑振轨迹规划算法．该算法采用均匀非周期四阶B样条描述机器人 的运动轨迹，B样条的控制点作为优化参数，使用改进的微粒群优化算法，以激振力为性能 指标对轨迹进行优化求解．该方法根据激振力指标而不是待定轨迹的控制结果来判定轨迹的 抑振性能，极大地简化了规划过程．对柔性双臂空间该机器人的抑振轨迹规划仿真，表明优 化轨迹取得了良好的振动抑制效果，证明了算法的有效性．     

仿生六足步行机器人步态轨迹的研究与仿真

针对仿生六足步行机器人关节较多,其步态轨迹规划和关节控制量计算都较为复杂的现状,采用Solidworks软件与MSC.ADAMS软件相结合的方式对六足仿生步行机器人的样机模型进行了运动学仿真与分析.通过仿真,验证了所设计的三角步态的适用性和所选择的三次样条曲线作为机器人足端点轨迹曲线方案的可行性.详细阐述了六足仿生步行机器人轨迹仿真的原理、方法及过程,找到了一种在ADAMS环境下求解机器人逆解的方法,简化了理论计算,提高了设计效率.     

基于Klann连杆的球腿复合机器人的设计与研究

结合球形和四足机器人两者优势,创新性地提出一种能适应多重作业环境的球腿复合移动机器人．在滚动模式下,对其进行直线滚动和侧滚转向分析,验证机器人转向的可行性．在四足模式下,以复数矢量法求得机器人足端坐标,并用Matlab绘制的足端轨迹曲线与Adams仿真曲线对比,验证了理论的正确性．以抬腿高度作为目标函数,由非线性规划算法求得足端轨迹最优解．采用质心投影法分析了机器人四足行走时的稳定性．建立仿真模型对机器人的四足直行、四足转向、四足爬坡和球体侧滚等运动模式进行仿真试验．同时,制作一台样机,验证了该机器人方案设计及各运动模式的可行性．     

运行时间周期化工业机器人模型迭代寻优NURBS轨迹插补

为满足工业机器人高精度复杂曲线运动的需求,本文提出运行时间周期化工业机器人模型迭代寻优NURBS轨迹插补算法.首先,根据轨迹最大轮廓误差和机器人动力学特性对曲线分段.随后,提出优化回溯算法,使各子曲线段均可用S曲线加减速规划.之后,为保证机器人在进给速度极小值处不超速,将各加减速阶段运行时间调整为插补周期的整数倍,并对子曲线段衔接处速度平滑处理.最后,提出模型迭代寻优曲线插补,大大降低了速度波动率.仿真试验表明,该方法插补轨迹的各项指标均满足要求且最大速度波动率仅为0.000099%.真机试验也验证了该方法可有效减小轨迹误差.     

基于轮廓特征的平面鞋印自动识别算法的研究和实现*

提出了一种基于轮廓特征的平面鞋印自动识别算法,根据鞋印长度比任何一个部位的长度和宽度都长这一特点,找到距离最长的两轮廓点,算出由这两点确定的直线与水平方向轴所成夹角,根据此夹角将鞋印图像进行倾斜校正,然后自动提取鞋印轮廓九个特征,利用欧氏距离进行鞋印的相似性度量。实验结果表明运用该算法进行鞋印识别是很有效的。     

Recognizing the viscoelastic safe area of work shoe sole in the sitting posture with vibration transmissibility in the vertical direction

Work shoe soles are a useful tool for decreasing the amplitude of vibration transmissibility to the human body for subjects exposed to foot-transmitted vibration (FTV) in the workplace. The main objective of this paper is to identify the viscoelastic safe area of work shoe soles in the sitting posture using a biomechanical model. To identify the model parameters, twelve young males participated in the experimental test. Moreover, to identify the viscoelastic parameters of the shoe sole model, three different work shoe soles, i.e., soft sole (Shore scale: A25), fairly soft sole (Shore scale: A42), and hard sole (Shore scale: A70), were used, whose mechanical parameters were extracted by establishing the experimental test based on vibration transmissibility. Afterward, the viscoelastic safe area of work shoe soles was determined based on vibration power absorption (VPA) for subjects exposed to vibration. The numerical simulation demonstrates that the soft shoe soles can decrease the maximum value of VPA up to two times compared to barefoot conditions. Furthermore, the maximum value of VPA in the hard sole is up to 14% more than that of the soft sole. Furthermore, the experimental test shows that the amplitude of vibration transmissibility to the hard sole is 15% more than that of the soft sole (p < 0.01), which is in line with the results of the numerical simulation. Moreover, increasing the mass of the shoe sole from 0.3 to 0.6 kg leads to a reduction in the viscoelastic appropriate area of the work shoe sole up to nine times.     

Hybrid feature modeling for sport shoe sole design

Feature-based method has been successfully applied in several fields of manufacturing. However, most of the applications use the solid modeling method that cannot meet the requirements of a product design that needs a free-form surface or a complicated surface. A sports shoe is one of the products that need a complex surface to design its sole. In addition, sport shoes are rapidly changed with their styles based on customer and market demands. Thus, the design must be flexible enough to meet those demands particularly when a short lead time design is concerned. Previously, shoe designs have been created by using a commercial standard CAD/CAM system. Surface modeling is normally selected. However, it is time consuming and not competitive. This paper presents a new method of a sport shoe sole design using the hybrid features of surface and solid modeling. Primitive features are prepared in the library, which is written in C of Cimatron API. The user can select and modify before joining them together to create a new shoe sole model. This system has the ability to extend sizes or grading in 3D automatically. The system was tested satisfactorily. Design time is saved 35.388% by average with a single piece design, whereas 88.42% can be saved when 12 sizes grading is performed.     

人头区域的提取与人员跟踪的实现

在危险作业场所中,采用机器视觉技术对进入工作现场人员进行实时统计。文章首先使用颜色特征并结合区 域生长的方法对人的头部区域进行初步定位,接着基于圆轮廓对人头区域实现确定。在提取连续帧人头区域的基础上进行目 标跟踪,建立预测函数辅助人头运动轨迹的获取,最终根据运动轨迹线判断目标是否进入或离开生产作业场所。实验表明,本 文提出的方法准确率在90%以上,具有良好的实用性与学术价值,对于确保安全生产具有重大现实意义。     

基于点云截面线的楦面重构

针对鞋楦数控加工和编制CAD/CAM软件的需要,给出了一种简便易行的鞋楦重构算法。该算法首先通过给定距离阈值对点云数据进行精简,滤除大量冗余信息,然后对截面线进行最小二乘拟合后均匀取点绘制模型,比以往蒙面法计算量少因此速度快。结果表明,该算法实用有效。     

Trajectory Generation Using GA for an 8 DOF Biped Robot with Deformation at the Sole of the Foot

In biped robot dynamics, the foot is generally considered rigid. However, in practical cases, there will be a layer of rubber on the sole to act as a shock absorber. Such electrodynamic contact has been studied in the case of industrial robots, but the experience with biped robots is rare. The goal of this paper is to device a trajectory generation method using a genetic algorithm (GA) for an 8 DOF robot that can walk on flat terrain and climb stairs with deformation at the sole. The proposed method uses splines to model each joint angle and needs a single GA layer, which makes it faster and simpler than earlier models. The method incorporates the dynamics of an actual 8 DOF robot to find the most energy optimal gait. A simple control method is proposed that corrects the computed angle required to follow ZMP incorporating the deformation of the sole. Using the control method the computed angle is first corrected and then the trajectory optimized. Energy consumed in three cases were compared: walk on flat ground with no sole deformation, walk with uncorrected deformed soft sole and walk with deformed soft sole with correction of deformation. It is found that the least energy was consumed in the case of soft sole with correction for deformation. This proves the need for deformation correction of soft sole and the usefulness of our proposed method.     

Shoe design for prevention of injuries in sport climbing.

Foot injuries and deformations are more frequent at higher levels of sport climbing. These are accepted as unavoidable because it is assumed that, for optimal performance, a prerequisite is the wearing of a shoe, which is too tight and has an unnatural shape. Based on a biomechanical analysis, we came up with a different approach to shoe design. By using regional thinning of the sole, easy flexion and extension of the toes is made possible. The form of the shoe conforms to the natural form of the foot, the shoe closure provides a close fit for feet with width differences of up to 20 mm and a shoe-sizing system was developed. After testing prototypes, we conclude that the new shoe design can contribute to the prevention of foot injuries and deformations in sport climbing.     

Extracting eyebrow contour and chin contour for face recognition

This paper proposes a novel method for extraction of eyebrow contour and chin contour. We first segment rough eyebrow regions using spatial constrained sub-area K-means clustering. Then eyebrow contours are extracted by Snake method with effective image force. For chin contour extraction, we first estimate several possible chin locations which are used to build a number of curves as chin contour candidates. Based on the chin like edges extracted by proposed chin edge detector, the curve with the largest likeliness to be the actual chin contour is selected. Finally, the credible extracted eyebrow contour and the estimated chin contours are used as geometric features for face recognition. Experimental results show that the proposed algorithms can extract eyebrow contours and chin contours with good accuracy and the extracted features are effective for improving face recognition rates.     

一种有效的秦俑碎块匹配算法

针对秦俑碎块的三维网格数据模型,提出了一种基于特征轮廓线的碎块断裂面匹配算法.首先,对数据模型进行纹理贴图、去噪、补洞、简化数据模型等预处理,然后提取碎块的主轮廓线和次轮廓线,进而提取出碎块的特征轮廓线,最后根据角点对特征轮廓线进行分段,并采用计算最长公共子序列的方法对分段曲线进行匹配,完成特征轮廓线的匹配,从而实现碎块断裂面的匹配.实验结果表明,该算法是一种有效的、精确的秦俑碎块匹配方法.     

An apparatus and a method for determining the slip resistance of shoes and floors by simulation of human foot motions

An apparatus to measure the coefficient of kinetic friction (mu k) between the shoe sole and the underfoot surface was constructed, and a method including criteria to evaluate the risk of slipping during walking was developed. The apparatus is a prototype stationary step simulator capable of simulating the movements of a human foot and the forces applied to the underfoot surface during an actual slip, and the drainage capability of the contact surface between the shoe sole and the flooring when different lubricants or contaminants are used. The apparatus consists of a movable artificial foot controlled by a computer with the aid of three hydraulic cylinders. The frictional force (F mu), the normal force (FN) and their ratio (mu k = F mu/FN) are measured with a two-way force platform when the foot slides along its surface. Two separate gait patterns, heel-side (mu k 1) and sole-slide (mu k 2) gait pattern, are used for the evaluations. The method classifies studied shoe, lubricant and underfoot surface combinations into five slip resistance classes according to the measured mu k 1. The slip resistance assessments are specified with some complementary safety criteria, e.g., the ratio mu k 1/mu k 2. The reliability of the developed measurement method was assessed in an international comparison test. According to available results discussed in this paper, our method seems to be valid and the slip resistance measurements seem to be repeatable.