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为了实现大型复杂曲面的喷涂轨迹规划,提出一种基于涂层厚度模型的高铁白车身机器人喷涂轨迹规划方法。基于静态涂层厚度的椭圆双β分布模型,分析喷涂的累计涂层厚度分布规律,提出一种用于评估相对不均匀性的指标RU,并基于RU指标,通过轨迹重叠的方式保证了涂层厚度的一致性。通过曲曲面的分割与合并,实现了喷涂区域的划分,同时基于包围盒法确定了机器人喷涂路径点空间坐标信息。实验结果表明:基于涂层厚度模型的轨迹规划方法能够有效保证喷涂效果的均匀性,并成功应用于高铁白车身的机器人喷涂加工,显著提升了喷涂质量与效率。 相似文献
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Robots in machining 总被引:1,自引:0,他引:1
《CIRP Annals》2019,68(2):799-822
Robotic machining centers offer diverse advantages: large operation reach with large reorientation capability, and a low cost, to name a few. Many challenges have slowed down the adoption or sometimes inhibited the use of robots for machining tasks. This paper deals with the current usage and status of robots in machining, as well as the necessary modelling and identification for enabling optimization, process planning and process control. Recent research addressing deburring, milling, incremental forming, polishing or thin wall machining is presented. We discuss various processes in which robots need to deal with significant process forces while fulfilling their machining task. 相似文献
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Federico Vicentini Nicola PedrocchiMatteo Malosio Lorenzo Molinari Tosatti 《Computer methods and programs in biomedicine》2014
Robot-assisted neurorehabilitation often involves networked systems of sensors (“sensory rooms”) and powerful devices in physical interaction with weak users. Safety is unquestionably a primary concern. Some lightweight robot platforms and devices designed on purpose include safety properties using redundant sensors or intrinsic safety design (e.g. compliance and backdrivability, limited exchange of energy). Nonetheless, the entire “sensory room” shall be required to be fail-safe and safely monitored as a system at large. Yet, sensor capabilities and control algorithms used in functional therapies require, in general, frequent updates or re-configurations, making a safety-grade release of such devices hardly sustainable in cost-effectiveness and development time. As such, promising integrated platforms for human-in-the-loop therapies could not find clinical application and manufacturing support because of lacking in the maintenance of global fail-safe properties. 相似文献
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The present study investigates how children from two different cultural backgrounds (Pakistani, Dutch) and two different age groups (8 and 12 year olds) experience interacting with a social robot (iCat) during collaborative game play. We propose a new method to evaluate children’s interaction with such a robot, by asking whether playing a game with a state-of-the-art social robot like the iCat is more similar to playing this game alone or with a friend. A combination of self-report scores, perception test results and behavioral analyses indicate that child–robot interaction in game playing situations is highly appreciated by children, although more by Pakistani and younger children than by Dutch and older children. Results also suggest that children enjoyed playing with the robot more than playing alone, but enjoyed playing with a friend even more. In a similar vein, we found that children were more expressive in their non-verbal behavior when playing with the robot than when they were playing alone, but less expressive than when playing with a friend. Our results not only stress the importance of using new benchmarks for evaluating child–robot interaction but also highlight the significance of cultural differences for the design of social robots. 相似文献
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This study adopted a two (author: algorithm or journalist) by two (notification of author: real or inverse) between subject design to investigate how the public and journalists perceive the quality of algorithms-written articles compared with human journalist's work. Findings showed that both the public and journalists' evaluations were varied by the manipulation of author notification. That is, the public gave higher scores to the algorithm's work when it was notified as the real author, but they gave lower scores to the algorithm's work when the author was notified as a journalist. It confirmed the public's negative attitude toward journalists' credibility and craving for new information and communication technology (ICT) products/services in Korea. Based on journalists' resistance to change and innovation and the theory of prejudice, it was expected that journalists would be favorable to another journalist's work and unfavorable to an algorithm's work. However, contrary to the hypothetical expectation, journalists also gave higher scores to an algorithm's work and lower scores to a journalist's work. Implications relating to the intrusion of algorithm-written articles into journalism were discussed. 相似文献