基于凸轮机构的变刚度仿生柔性关节设计与分析

为满足足式机器人跑跳等动态运动对关节柔性及其变刚度特性的迫切要求,借鉴生物关节柔性特征与主被动刚度调节机理,创新地提出了一种基于凸轮机构的新型变刚度仿生柔性关节。基于关节刚度特性分析,构建了关节整体刚度模型,并针对影响关节刚度特性的各结构参数开展了系统优化设计,研制出了一款紧凑型高集成度关节样机。关节样机性能实验结果表明,基于凸轮机构的变刚度仿生柔性关节具备理想的关节输出力矩与刚度调节范围,可通过关节固有刚度特性与动态刚度特性的主被动融合控制,实现关节瞬时刚度的动态非线性精确调节,能够满足机器人动态运动对关节柔性与刚度的需求。     

四足机器人仿生关节的研究现状综述

兼具高速度、高机动和高适应性已成为四足机器人发展的必然趋势,仿生关节作为重要的基础运动部件,对四足机器人的运动学和动力学研究具有重要的作用。从气动柔性的仿生关节、液压减震的仿生关节、串联弹性驱动器的仿生关节和变刚度柔性的仿生关节4方面出发,对四足机器人关节仿生的研究现状进行了全面综述,并准确分析各种类型的仿生关节缺陷,最后对四足机器人仿生关节的未来发展趋势进行概述。随着研究的深入,四足机器人的仿生关节必然会在生产服务、科学探索、未来战争等多个领域中发挥广泛的应用。     

一种面向航天需求的仿生柔性机械臂的设计

针对航天器舱内环境的障避实际需求,基于自然界象鼻的内部肌肉结构分布特点,设计一种多冗余自由度仿生柔性机械臂。该机械臂由8个柔性关节组成,每个柔性关节具有3个自由度,相比传统机械臂,具有结构紧凑、刚度较高、运动灵活、操作空间广泛等特点。针对所提出的单个柔性关节与多个关节组成的仿生柔性机械臂进行运动学建模分析。利用制作的仿生柔性机械臂,进行航天避障任务试验,验证了该机械臂结构的可行性。     

一种柔性手指的建模研究

提出了一种新型的气动弯曲关节。用这种弯曲关节构造了一个柔性仿生手指。建立了手指的静态模型,实验证明了该模型的正确性。给出了手指的动态模型,仿真结果表明,手指具有很好的动态特性。提出了一种设计仿生多指手的新的方法。     

一种柔性手指的建模研究

提出了一种新型 气动弯曲关节。用这种弯曲关节构造了一个柔性仿生手指。建立了手指的静态模型，实验证明了该模型的正确性。给出了手指的动态模型，仿真结果表明，手指具有很好的动态特性。提出了一种设计仿生多指手的新的方法。     

柔性仿生驱动器研究综述

随着软体机器人的快速发展,面向软体机器人的柔性仿生驱动器的研究成为研究的热点,对现有的相关理论成果进行分析和总结,对当前柔性仿生驱动器的关键技术进行分析,并对未来的发展趋势进行展望,以促进柔性仿生驱动器的研究进一步发展。首先,综述了柔性仿生驱动器类型,包括气动驱动器、形状记忆材料驱动器以及电活性聚合物驱动器等;其次,从仿生材料、本体机构设计和制造技术、运动学和动力学建模及驱动器的控制策略4个方面对柔性仿生驱动器存在的技术难点进行分析;最后对未来发展趋势进行构想。     

一种消减仿生毛虫附着点侧滑力的方法

基于仿生学研究成果和仿生毛虫的体节结构特点,使用柔性结构——天然橡胶杆,取代原来的刚性杆,获得了一种柔性结构仿生毛虫构型。首先讨论了柔性结构的力学特性,然后建立了可控关节补偿角与侧滑力的力学模型,最后通过实验验证了利用柔性结构和关节补偿角消减侧滑力的效果。     

一种摆动式柔性关节的遥控仿生机器鱼

该文提出一种波壳伸缩式摆动式柔性关节 ,突出了由弯曲关节构成的仿生机器鱼的设计。此关节采用板弹簧为柔性骨架 ,波壳弹性体受气压后轴向膨胀作为肌肉动力。文中给出了柔性关节的简单结构、仿生机器鱼的基本构造、接受与控制系统的硬件组成以及驱动系统的原理     

仿生人体足部行走特性的两足机器人足部设计

人体足部的触地模式和结构柔性是人体行走平稳的重要特征和保障。研究论述在双足行走机器人足部设计中仿生人体足部特征对提高其行走平稳性的作用机制,并提出一种基于直线驱动、具有空间三并联五杆柔性机构的机器人仿生足部。参照人体足部行走实验的位移和形变数值,进行了仿生机器人足部的强度设计和柔性设计。通过有限元分析,对仿生足部在全足支撑相位的柔性、强度和触地受力情况进行了验证。     

工业机器人关节柔性特征研究

设计了六自由度工业机器人,对其关节柔性进行研究;根据其结构特点和负载情况,基于DH坐标理论建立了其刚性运动学模型和柔性运动学模型,分析研究了对关节柔性的影响因素,这里主要是受负载和机器人部件本身的重力影响,得到各关节的柔性变化量与负载和部件本身重力之间的数学关系,并得到各关节柔性变化量与上述因素对应的曲线图,对其进行研究和分析;最终得到机器人关节在整个工作空间中不同位置对应不同负载时所产生的柔性变形量。     

A concurrent development tool for flexible assembly systems

Global competition and the rapid pace of technological change now require the almost continual introduction of product upgrades by any manufacturer. Thus, such a manufacturer is likely to market older and newer versions of a product simultaneously, not to mention niche-specific editions of any product upgrade. An increasingly successful response to this product proliferation is the implementation of flexible assembly systems. In the context of a flexible assembly system (FAS), the ability to estimate the impact of various product and process options on the maximal level of system output becomes crucial to managing the ever-changing product mix. This paper presents a tool for such impact estimation that can facilitate concurrent development and engineering. Experience with an actual FAS is the basis for the reported results. The tool is a specialized combination of discreteevent computer simulation, experimental design, and regression analysis. Application of the tool assumes FAS use with a cellular manufacturing philosophy. Thus, uncluttered process flow for a family of products in the sense of group technology places the focus on potential bottlenecks. The new tool here models the impact of process and product options on bottleneck and, hence, FAS behavior.Working paper presented at the Third ORSA/TIMS Special Interest Conference on Flexible Manufacturing Systems, August 14–16, 1989, M.I.T., Cambridge, Massachusetts.     

铆装柔性夹具的设计与实现

柔性夹具是柔性装配中的重要组成部分,装夹一定范围不同形状、尺寸变化的多种零件的工艺装备,完成高质量、高效率、低成本的装配.柔性夹具是集传统工业技术、数字化信息、微电子技术为一体的多点阵成形真空吸附式柔性工艺装备.     

考虑负载变形的柔性机器人协调操作动力学

从柔性机器人协调操作的本质特性出发，考虑负载柔性，巧妙采用中与负载的有限元模型，建立了柔性机器人协调操作系统的运动学协调约束条件，导出了其系统动力学方程，成功地给出了2台3R柔性机器人协调操作一柔性梁负载的仿真算例。讨论了在建模过程中选择主臂抓持梁和从臂抓持梁为位形基准对建模的影响。     

气动柔性五自由度手指运动分析及控制

基于气动柔性驱动器,设计了气动柔性五自由度手指,并介绍了其结构原理。分析建立了五自由度手指的运动学方程,并采用遗传算法解决了该五自由度手指逆运动学中的冗余解问题。基于神经网络设计了手指控制器,并进行了手指指尖轨迹跟踪实验。实验结果表明,手指指尖的运动实验曲线与理论曲线比较接近,说明采用遗传算法及神经网络控制能够实现对五自由度手指的较精确实时控制。     

An efficient heuristic for scheduling batches of parts in a flexible flow system

Flexible manufacturing systems (FMSs) are a class of automated systems that can be used to improve productivity in batch manufacturing. Four stages of decision making have been defined for an FMS—the design, planning, scheduling, and control stages. This research focuses on the planning stage, and specifically in the area of scheduling batches of parts through the system.The literature to date on the FMS planning stage has mostly focused on the machine grouping, tool loading, and parttype selection problems. Our research carries the literature a step further by addressing the problem of scheduling batches of parts. Due to the use of serial-access material-handling systems in many FMSs, the batch-scheduling problem is modeled for a flexible flow system (FFS). This model explicitly accounts for setup times between batches that are dependent on their processing sequence.A heuristic procedure is developed for this batch-scheduling problem—the Maximum Savings (MS) heuristic. The MS heuristic is based upon the savings in time associated with a particular sequence and selecting the one with the maximum savings. It uses a two-phase method, with the savings being calculated in phase I, while a branch-and-bound procedure is employed to seek the best heuristic solution in phase II. Extensive computational results are provided for a wide variety of problems. The results show that the MS heuristic provides good-quality solutions.     

Creation and integration mechanism of instrumentation flexible developing system

To solve many key technical problems during the development of modern instrumentation system integration and provide a new mode and fundamental technical equipment for the research and development (R&D) of modern instrumentation products, based on the concept of an instrumentation flexible developing system (IFDS), this paper discusses the creation and open flexible integration mechanism, perfects the integrated supporting environment and integrated system of the flexible interconnection, and constructs the new flexible integrated system. Based on the operation mechanism of the modern instrumentation developing system and the research and optimization of the rapid integration design method, the paper emphasizes the dynamic integrating method of multiple types of knowledge in a modern instrument R&D system, to effectively utilize the rich integrated resource and achieve rapid integration of the system. Applications show that the new IFDS can improve the integration level and efficiency of R&D of the modern instrumentation system, enforce the reliability of the system, shorten the R&D period, and reduce the development costs.     

面向用户的柔点柔变范围定量度量技术

为了解决柔性软件柔点柔变范围度量准确性差和操作性低的问题,以面向用户的柔点为研究对象,提出了软件柔变性模型,建立了柔点变化传播影响图,改进了功能点分析法,给出了柔点柔变范围定量度量模型。在该度量模型中,以柔变部件作为基本度量实体,利用柔变性模型表示柔点、柔变点和柔变项,通过柔点变化传播影响图分析柔点变化传播影响,应用改进的功能点分析法提取软件柔点变化影响的柔变部件,进而计算所有柔变部件的功能点计数,确定柔点柔变范围的定量值。结合实例说明了柔点柔变范围的定量度量过程,分析了柔点柔变范围。     

面向敏捷制造的可视化柔性决策研究

管理决策作为敏捷制造的三大支柱之一,决策水平的高低直接影响敏捷制造的效率、效益和敏捷制造在我国的推广应用。本文简述了敏捷制造的意义、特点、对管理决策的要求和柔性决策的产生,探讨了有限理性这一柔性决策的基本前提假设,提出了基于有限理性的柔性决策的概念,并通过与传统全面理性决策的比较,分析了柔性决策的特点、柔性决策机制、柔性决策步骤;最后进行了案例研究。     

Developing a computer control system for a flexible manufacturing cell

This article focuses on the development of a computer control system for a flexible manufacturing cell. The paper outlines the various modules that are required for a computer control system and elaborates on the development of some of these modules. This is part of an ongoing research project at the University of the Witwatersrand. The aim of the project is to demonstrate the viability of flexible manufacturing systems to South African industry. Thus the main constraints of the project were cost, ease of implementation, and ease of maintainability. This necessitated the use of existing machinery and of computer systems and software that were readily available and already familiar to industry.     

Rule-based production planning in flexible manufacturing systems

Production planning in flexible manufacturing may require the solution of a large-scale discrete-event dynamic stochastic optimization problem, due to the complexity of the system to be optimized, and to the occurrence of discrete events (new orders and hard failures). The production planning problem is here approached for a multistage multipart-type manufacturing shop, where each work cell can share its processing time among the different types of parts. The solution of this problem is obtained by an open-loop-feedback control strategy, updated each time a new event occurs. At each event time, two coupled problems are solved: 1) a product-order scheduling problem, conditioned on estimated values of the production capacities of all component work cells; and 2) a production-capacity planning problem, conditioned on predefined sequences of the product orders to be processed. In particular, the article aims at defining a production planning procedure that integrates both analytical tools, derived from mathematical programming, and knowledge-based rules, coming from experience. The objective is to formulate a hybrid (knowledge-based/analytical) planning architecture, and to analyze its use for multicell multipart-type manufacturing systems.