摔跤训练器主体与模拟人连接机构的分析与改进

阐述了摔跤训练器的基本机构,利用齐次坐标变换建立了摔跤训练器主体机构与模拟人连结部分的运动关系;根据理论推导的结果,分析了此机构的特点,提出了改进方案。该方案克服了训练器在滚桥动作中的一些不足之处。     

A hybrid Jacobian control for uncalibrated robot visual servoing

This paper focuses on the visual servo control of an uncalibrated robotic arm with an eye-in-hand camera. Without a prior knowledge of the kinematics of the robotic arm or camera calibration, the proposed hybrid Jacobian controller can track a moving object using visual feedback and joint-space velocity feedback. The proposed hybrid control method is a combination of the uncalibrated visual servoing and approximate Jacobian feedback control. First, the Jacobian matrix from joint-space to image-space is estimated by recursive least-squares (RLS) algorithm, and then the approximate Jacobian feedback controller is designed by using visual feedback and joint-space velocity feedback. The performances of the proposed control methods are illustrated by computer simulations.     

基于模型库的冷连轧过程控制仿真支撑系统

结合当前实际应用对改善仿真建模过程的需求,以简化专业领域仿真过程、提高仿真建模效率为目的,提出了以模型重用技术为基础,基于领域模型库的仿真支撑系统的思想,给出了仿真支撑系统总体结构设计方案,并针对带钢冷连轧过程优化控制系统,就标准仿真流程框架的提取、层次化领域模型库的构建及支撑系统运行机制的实现等关键问题进行了探讨·应用实例说明本文提出的仿真支撑系统总体框架及运行机制是可行的·     

以人为中心的机器人系统的人机交互技术

以人为中心的机器人系统(HCR)强调以人为本、人机合作的思想，主要用于动态、非结构化的环境和必需有人机共同完成的任务。笔者提出了基于穿戴计算的人机接口，使HCR的人机交互不受时间、空间的限制。通过增强现实，机器人的状态、报警等重要信息成为输出通道传输的重点，有效地减少了对信息传输带宽和再现信息的资源占用，减轻操作者的负担，进而提高HCR操作者对本地状态的意识和对远程环境的感知。通过并行、互补的多通道及整合、融合多个输入信息的方法，消除信息的多又性和噪声，从根本上克服当前人机交互的输入瓶颈，实现更加高效、人性化的HCR人机交互。     

铝合金双层球面网壳结构的抗震性能分析

以双层球面网壳为研究对象,分析了其结构随参数变化的自振特性,采用Newmark积分法对其进行地震时程响应分析,在此基础上分别研究了铝合金双层网壳与钢双层网壳结构在竖向地震荷载作用下结点随参数变化的位移响应及其杆件轴向应力响应.研究结果表明,铝合金网壳与钢网壳在结构相同的情况下,其自振特性基本相同,对地震荷载引起的位移响应,铝合金网壳要略大于钢网壳,而铝合金网壳杆件轴向应力远远小于钢网壳,因此用铝合金取代钢材具有可行性.     

光线对高速运动粒子的一种效应

通过对物理模型的讨论,对垂直光线高速运动的中性粒子所受光压进行分析,得出当粒子速度增高时,其所受光压也增高的结论.     

Parallel Mechanisms with Two or Three Degrees of Freedom

Parallel manipulators for the machine tool industry have been studied extensively for various industrial applications. However, limited useful workspace areas, the poor mobility, and design difficulties of more complex parallel manipulators have led to more interest in parallel manipulators with less than six degrees of freedom (DoFs). Several parallel mechanisms with various numbers and types of degrees of freedom are described in this paper, which can be used in parallel kinematics machines, motion simulators, and industrial robots.     

Research on Precision Assembly Robot''''s Joint Torque Control Based on Current Measurement

A set of new current sensing device is used to realize joint torque control based on current measurement in a precision assembly robot's third joint. The output torque's model of the joint's brushless DC motor is founded. Disturbance factors and the compensated effect of the torque's closed loop based on current measurement are analyzed. Related simulations and experiments show that the system has good current tracking and anti-disturbances performance, which improve the force control performance of the robot in assembly.     

基于小波包联合AR功率谱理论的滚动轴承故障诊断

提出了小波包联合自回归功率谱理论的故障诊断方法.对采集的轴承振动信号采用高、低正交共轭镜面滤波器组,将信号划分到不同频道上.滤波器每作用一次,数据点减半,采样的时间增至两倍.选取轴承缺陷所在频段的数据插零,将其他频带补零重构提高缺陷信号的时频分辨率;然后通过AR功率谱分析轴承运行状态,诊断出轴承对应的故障.对207滚动轴承的早期缺陷作了实际诊断,诊断结果与实际较为符合.证明该方法是一种有效的弱信号缺陷提取与诊断方法.     

基于离散智能的自重构机器人变形策略

在总结自重构机器人系统结构本质特点的基础上，提出了一种描述模型，对几种典型的同构和非同构系统进行统一的描述．探索了自重构机器人的基本变形方法，给出一种建立在全离散的局部智能基础上的变形策略，使机器人通过模块局部之间的交互产生整体自组织的结果，并且能够减低变形算法的计算复杂度．以一个9模块系统的变形过程为例进行了验证．