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Lianzhi YU Guozheng YAN Guanying MA Peng ZAN 《Frontiers of Mechanical Engineering in China》2008,3(1):66-70
Based on the inchworm movement, a miniature endoscope inspection robot system with a flexible structure is designed. The system
is actuated by a pneumatic rubber actuator with three degrees of freedom, and it holds its position by air chambers. The actuating
mechanics characteristics of the robot are analyzed. An electro-pneumatic pressure system is designed to control the motion
of the robot. Results of the calculation and experiments are consistent, and the robot system can move smoothly in a soft
tube.
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Translated from Chinese Journal of Scientific Instrument, 2007, 28(1): 7–11 [译自: 仪器仪表学报] 相似文献
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设计了一种呼吸道主动监测微型机器人系统,用于实时测量重症监护机械通气中的主要呼吸力学参数.该机器人系统采用三自由度气动人工肌肉驱动器驱动,通过气囊钳位.介绍了机器人机体的构造和运动原理,建立了机器人的动态模型.提出一种模糊小波神经网络控制器对机器人进行控制.将采用模糊小波神经网络控制器与采用小波神经网络控制器及模糊神经网络控制器的控制系统仿真结果进行比较.仿真和实验结果都说明模糊小波神经网络控制器有效地改善了机器人的静动态特性,具有更快的训练速度和更好的控制效果,是一种理想的临测机器人系统控制方法.在猪气管中进行了初步实验,在机械通气情况下监测了气管末端的压力和温度参数.初步的研究结果表明,该柔性驱动的机器人系统可用于主动动态监测人体呼吸道中的呼吸参数. 相似文献
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机器人柔性装配系统优化规划方法研究 总被引:1,自引:0,他引:1
本文提出了用基于并行思想的约束网络方法对机器人柔性装配系统进行建模,该建方法改变了传统装配系统的串行设计模式,能较好地利用并行工程概念对系统进行设计。在上述建模的基础上,探索了应用遗传算法求解全局优化问题的途 解决大规模系统 化设计问题提供了一个有效工具。 相似文献
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《Mechanism and Machine Theory》1986,21(4):325-335
The computed torque technique is utilized to control the rotary joint of a single-link flexible robot. The technique is implemented by calculating, for a given tragectory, the nominal torque from the rigid body model of the robot. The technique provides feedforward compensation which introduces an additional zero of the closed-loop system transfer function. Using a PD-feedback compensator in addition to the feedforward one “almost” pole-zero cancellation of the dominant closed-loop poles of the system is achieved. The paper shows that the proposed technique generates a better transient response and completely eliminates the steady-state error of the joint variable. 相似文献
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A flexible imprinter can be used to accommodate substrate or template roughness in nanoimprint lithography. The contact mechanics of a multi-layer imprinter incorporating bending and local deformation is described. With the right combination of dimensions, moduli, and viscosity, the imprinter can transfer a pattern evenly to a non-flat substrate. These concepts have been used to pattern magnetic media for high density information storage. 相似文献
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In this paper, an improved predictive control algorithm for controlling a typical nonlinear flexible-joint robot (FJR) with input constraint is proposed. The receding horizon algorithm, called generalized incremental predictive control (GIPC), utilizes both present and previous states rather than present states only. The GIPC algorithm includes the weighted difference of the current and the previous states and the summation of the control action increments. In order to illustrate the effectiveness of the proposed control strategy, it is implemented to the FJR and the results are compared with those of generalized predictive control (GPC). It is demonstrated that the proposed GIPC algorithm is more robust than the standard GPC method. Furthermore, the constrained GIPC algorithm using the quadratic programming removes instabilities caused by actuator saturation. 相似文献
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《Mechanism and Machine Theory》1987,22(5):481-487
This paper is devoted to the methods of computation and analysis of equilibrium positions of the object in the robot gripping device, assuming that the contact between the object and gripper is maintained in a finite number of points.Problems of construction of computation models which make it possible to determine the reliability of holding an object in the gripper of an industrial robot in operation are considered.To compute the gripper carrying capacity, the authors developed a procedure involving a system of seven equilibrium equations for the “object-gripper” mechanical system: when the equations are solved, the carrying capacity of the gripper can be estimated and its exhaustive characteristic plotted, which is the area of rigid fixation within the space of acting forces and moments.The results of the present study can be used when developing the robot devices, optimizing their parameters, or estimating the reliability of object holding in auxiliary transfer devices, feeders and positioners (such as spools, dispensers, special holders, etc). 相似文献
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内窥检查机器人柔性移动机构设计 总被引:2,自引:0,他引:2
根据蚯蚓蠕动原理,设计了用于肠道检查的内窥检查机器人移动机构,并进行了实验测试。蠕动式柔性移动机构除了实现移动功能外,还可通过充气膨胀的橡胶囊在机器人与肠道之间建立一个柔软的安全缓冲层,以避免在机器人运动过程中对人体内部软组织造成的擦伤和拉伤。 相似文献
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为了提升攀爬机器人壁面运动稳定性从而提高其工程应用能力。针对攀爬机器人壁面运动过程的振动与动力学耦合特性问题,本文设计制作了一种含柔性吸附材料的攀爬机器人。基于刚柔耦合原理,获得刚性体与柔性体运动学递推关系,利用拉格朗日原理建立攀爬机器人动力学方程。推导得到反应动力学耦合程度的数学模型。通过仿真分析得到运行相同位移情况下,通过调整加减速时间比例使得机器人振幅下降35%,分析得到一定范围内攀爬机器人刚性质量与吸附材料弹性模量增加通过降低动力学耦合程度降低攀爬机器人振动响应。通过样机实验测量了攀爬机器人负载能力与不同运动阶段真空度与流量的稳定性。研究为攀爬机器人的驱动控制策略与工程应用奠定基础。 相似文献
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目前常用的柔性关节机械手运动控制策略设计中,存在的主要问题是关节的加速度与跃度必须准确已知,这对测量带来了极大的困难,同时会对系统引入测量噪声.为解决该问题,提出了复合控制策略.将系统分为刚体模型与柔性模型的组合,对两个模型分别设计控制器以达到机械手关节轨迹跟踪的目的.以一个双臂柔性关节机械手轨迹跟踪为例,仿真结果表明,该复合控制策略可以实现柔性关节机械手的轨迹跟踪要求,具有一定的可行性. 相似文献