机器人离线编程中虚拟现实人机接口研究

研究虚拟现实人机交互技术在机器人离线编程系统中的应用，以提高系统人机交互的自然性和效率。介绍了将六自由度输入设备FASTRAK跟踪系统用于机器人运动路径交互式生成的原理。提出一种场合相关的基于模板匹配的手势识别算法，通过手势向虚拟环境发送交互命令来对虚拟机器人进行离线编程，实现了数据手套在系统中的人机交互。算法简单、实时性好、识别率高、鲁棒性强。方法已在SGI工作站上实现，应用在自主开发的机器人虚拟示教编程系统中，大大提高了离线编程的效率。     

基于知识的产品制造过程能耗的计算与预测

为了估算新产品制造过程中的能耗值,提出了基于知识的能耗预测方法.首先,应用本体技术使能源消耗的计算和管理更清晰和明确,建立了能耗知识的语义模型并指出其语义表示方法.其次,提出了针对能耗预测特点的工艺实例检索过程及相似实例结果的重用方法.最后,应用神经网络技术,建立了针对加工参数的能耗预测模型,并以叶片加工为例进行了应用验证.形成从全局视角到工艺过程再到工序的能耗预测层次框架并对原型系统的开发及应用进行了说明.     

Study on Chart Based on Short Production Run

High intellectual, high flexible automatic manufacturing system based on low volume production is the trend in the future, but the traditional control charts whose control limits are based on at least 20～25 subgroups of five observations each are not suitable in this environment. The paper presents variance control chart used in small batch production in which there are not sufficient observations. The control limits are set reliably without restriction of the number of samples.     

Operation principle of a novel curvature plastic fiber optic sensor

The operation principle of a new type of intensity modulate macrobend curvature optical fiber senor was presented based on surface light scattering theory. Sensor‘s static and dynamic performance was investigated. This type of sensor can distinguish between positive and negative bending directions. When curvature radius is larger than 50mm, the sensor will keep good linearity. Two-dimensional shape measurement experiments using curvature sensors have been implemented.     

微创手术机器人被动式关节设计和优化

设计一种用于微创手术机器人的被动式关节,实现了机械结构和控制驱动的一体化设计;关节可以实现回转运动并实现手术中关节在任意位置的可靠锁紧;锁紧机构采用步进电机驱动,通过压力传感器检测锁紧力矩大小,力矩可调.