基于虚拟原型的管径激光检测机器人运动仿真

为直观分析天然气管道内径激光检测机器人在管道中的运动工况,基于CAD软件绘制了机器人三维模型,并对其进行了受力分析;运用LabVIEW编写了控制程序,并设计了简单、直观的人机交互界面;应用NI公司的运动模拟软件,建立了三维模型与控制程序的连接,通过设定运动参数和运行控制程序,实现了机器人虚拟模型模拟物理原型的运动仿真。使用虚拟原型技术,改进和优化了设计结构,缩短了研发周期,减少了加工成本,在项目前期工作中具有重要意义。     

基于Matlab管道内表面处理机器人驱动特性研究及仿真分析

针对现有清理管道内表面污物和锈蚀的管道机器人存在拖动力不足和自适应性差等缺陷,提出一种一入三出的管道机器人驱动机构,建立驱动系统的数字化模型。分析了管道内表面处理机器人驱动特性、传动关系和力矩变化特点,完善了管道机器人的设计理论。建立了管道机器人驱动系统的虚拟样机模型,利用Matlab软件分析测试了机械运动学特性。结果表明,此管道机器人驱动机构具有很好的自适应性、较好的差动功能和较强的行走性能,可以解决拖动力不足和自适应性差的问题。     

PUMA560机器人运动仿真研究

本文介绍了一个基于微机的交互式机器人的运动轨迹规划仿真系统，该系统能对ＰＵＭＡ５６０机器人进行运动学及迹规划的仿真分析，并能显示该机器人各关节的运动特性曲线，本文介绍了所采用的数学模型，该仿真系统的结构，并给出了计算程序框图。     

基于Pro/E的管道喷涂机器人运动仿真分析

利用ProE／Mechanism的运动仿真功能,模拟实现了冗余多自由度管道喷涂机器人手臂在S型管道内的运动特性。模拟仿真过程中通过输入由机器人逆运动学计算所得的手臂关节关键点的相对坐标,实现了机器人手臂按照规划路径运动的设计要求,从而检验出手臂是否与管道碰撞,为喷涂路径的优化提供了重要参考,最终实现了对机器入喷涂效果的最优化控制。     

基于虚拟现实的机器人运动仿真研究

研究了基于虚拟现实（VR）系统的机器人运动仿真。首先讨论了VR系统的基本构成及其建模技术，其次分析了可视的重要性，最后研究了机器人运动仿真VR系统的结构、基本原理及其软件开发平台，并进行机器人的运动仿真。     

超声波检测在石油管道检测机器人中的应用

石油管道长时间埋在地底下，由于腐蚀将会变薄，部分管段甚至出现破坏现象，文中针对输油管道的检测，提出了管道检测机器人超声检测的工作原理和具体方法，超声波检测是一种典型无损检测，在实际应用中，已经验证了超声检测方法的可行性，可靠性和准确性。     

管道清灰机器人系统设计

提出采用履带式管道清灰机器人解决冶炼厂烟道积灰的清除方案。详细阐述了清灰机器人结构和驱动方式。从机构学角度分析了操作臂运动特性,给出了操作臂作业的几个特殊位置,分析了操作臂死点位置,提出避免死点的方法。     

折叠轮腿式管道机器人结构设计与仿真分析

针对现有轮腿式管道机器人存在的管径适应能力与运动平稳性之间的矛盾,提出了将折叠式平行四边形机构引入到机器人的轮腿结构中,在保证运动平稳性的前提下,扩大了机器人适应的管径范围。同时,对该机器人的越障能力和变径能力以及弯管内通过性进行了分析计算,并进行了三维建模与运动仿真分析,验证了本设计的合理性与可行性。该机器人具有适应能力强、过弯灵活、攀爬能力强、驱动效率高等特点。     

斜拉桥缆索检测机器人结构设计与运动仿真

以实现斜拉桥缆索高效检测为目的,提出了一种新型缆索检测机器人结构设计。在对检测机器人的附着条件进行分析的基础上,利用三维设计软件Pro/E对机器人进行运动仿真分析,为提高缆索检测机器人的爬升能力以及机器人总体结构的优化设计提供了一定的参考依据。     

基于超声波避障的移动机器人动态仿真平台的建立

本文利用MATLAB软件中的simulink工具箱设计了利用超声波测距原理进行避障的移动机器人的动态仿真演示平台,实现了对移动机器人避障的实时动态的仿真,仿真实验结果良好。     

Collision detection in the robot simulation system SMART

All over the world there exist several simulation systems, of varying degrees of sophistication, for robot working cells. These systems can also perform respective operations for the analysis of situations in the robot work cell, such as output of the actual parameters of all joints of the robot, graphic/display options and collision detection algorithms. A systematic analysis of existing robot simulation systems showed that only a very few of them are able to perform a collision test. Although, in the field of computational geometry and computer algebra, there exist several approaches for doing collision checks, most of them seem to be not at a stage at which they can be really implemented or efficiently used. In this paper we describe algorithms for static and dynamic collision detection, and its implementations in the frame of the robot simulation system SMART.     

Classification of flaws in ultrasonic and X-ray testing

Classification of flaws in welded joints during X-ray and ultrasonic nondestructive testing are considered. The consideration is focused on the parameters of flaws that affect the reliability of the tested item. Recommendations are made to improve identification of a flaw’s shape and type via relationships between test signatures and to assess parameters involved in calculations of the strength and service life of a tested item.     

基于变电站巡检机器人的超声波检测系统的设计与实现

本文研究开发了一种基于变电站巡检机器人的多超声传感器采集系统.系统选用一体化超声传感器,以单片机为控制器,设计了超声波的发射和接收电路,完成了与机器人工控机的通信,并完成了相应的软件程序设计.考虑到变电站的强电磁环境对电子设备的干扰影响,在电路设计上采用大量的滤波电路,提高了系统的抗干扰能力,实现了测量的实时性和准确性.变电站环境应用表明:该系统运行稳定,具有较高的测量精度,对变电站巡检器人在变电站中的应用具有重要意义.     

Strain sensing characteristic of ultrasonic excitation-fiber Bragg gratings damage detection technique

There are good prospects for development of ultrasonic excitation-fiber Bragg gratings (UE-FBGs) damage detection techniques in the field of Nondestructive Testing (NDT). However, corresponding strain sensing theories are few and only applicable to the embedded fiber Bragg gratings (FBGs) sensors in composite structures. First, a four-cylinder sensing model for both the embedded and glued FBG sensors is established by introducing a surface-bonded effect coefficient obtained from simulation analysis in this paper. According to the shear-lag theory, an improved strain sensing function is derived from this model by considering the contribution made by the elastic modulus of host material. Then, based on above function, the strain sensing characteristics are analyzed. Finally, the system with an ultrasonic transducer to excite FBG and a demodulation device employing a tunable laser to detect FBG wavelength shifts was established to validate the theoretical analysis. The experiment results showed that the ultrasonic strain sensing ability of the FBG sensor decreased with the increase of ultrasonic frequency and glued thickness.     

The detection of flaws in optoelectronic systems

Potentially dangerous spots (PDSs), for example, leaks in product pipelines (oil and gas pipelines), are revealed using optoelectronic systems (OESs) that are usually mounted on airborne vehicles (e.g., helicopters). Earlier, a relevant problem consisted of revealing the onset of leaks in PDSs; however, today it is necessary to detect the PDSs of leaks in order to prevent their development. The complexity of the problem is related to the fact that product pipelines are most often located near densely populated areas and near reservoirs with drinking water. The appearance of PDSs is usually characterized by deviations in the temperature and other physical parameters from standard values in small areas. The detection of such spots necessitates decreasing the flying height of an OES carrier. As a rule, this yields a deterioration of imaging quality and OES overheating, which decreases the efficiency of this PDS detection method. Conservative OES developers believe that a low imaging quality and OES overheating result from random flaws in the OES assembly. Contrary to this, it is shown that failures occur due to a deterministic flaw at the stage of designing drives for an OES platform.     

Comparative analysis of optical and ultrasonic stimulation of flaws in composite materials

The papers on ultrasonic infrared thermography are briefly reviewed. The results of comparative experimental investigations of composite-material specimens subjected to ultrasonic and optical stimulation are described.     

How the detectability of small flaws is related to the ultrasonic wavelength

In the early 1970s, we developed SARD-1, an ultrasonic apparatus for the automatic detection and estimation of flaws [1] under the supervision by V. V. Zalesskii, head of laboratory of acoustic methods at Rostov State University. The distinguishing feature of its design was the presence of dedicated units for statistical processing of detected signals with a view to identifying a flaw and estimating its parameters.     

码垛机器人运动学分析与仿真

为了评价码垛机器人的工作能力和实现作业的精确控制,需对码垛机器人进行工作空间计算和轨迹规划。以ABB IRB660码垛机器人为例,建立D-H矩阵并对其工作空间进行仿真;然后对码垛机器人完成特定码垛任务进行轨迹规划。工作空间仿真结果表明,码垛机器人杆件参数和关节参数设计满足工作要求;对拟定的码垛任务轨迹规划结果表明,此轨迹规划达到了考虑速度、加速度等边界条件的前提下运动时间最优的目的,验证了机构设计的合理性。本研究有利于码垛机器人的结构设计和动作控制,并为码垛机器人的精确控制和动力学研究奠定了基础。     

超声检测并联机器人位姿分析研究

针对多自由度超声检测机器人检测曲面工件时位姿调整困难问题,通过分析超声检测并联机器人的运动学模型,提出了超声背散射检测与并联机器人一体化技术。以实现超声检测探头姿态的特殊控制要求为目标,对检测并联机器人建立了数学模型,提出了一种位姿控制计算方法,并利用Matlab对位姿控制进行了仿真分析,为计算机控制检测探头进行曲面检测提供准确的控制参数。通过超声C扫查实验,对比了超声图像中噪声所占的面积比例和图像轮廓清晰度。实验结果表明,超声检测并联机器人在提高超声探头的位姿控制精度后,能够降低噪声,提高信噪比。