An optimal fuzzy-PI force/motion controller to increase industrial robot autonomy

This paper presents a method for robot self-recognition and self-adaptation through the analysis of the contact between the robot end effector and its surrounding environment. Often, in off-line robot programming, the idealized robotic environment (the virtual one) does not reflect accurately the real one. In this situation, we are in the presence of a partially unknown environment (PUE). Thus, robotic systems must have some degree of autonomy to overcome this situation, especially when contact exists. The proposed force/motion control system has an external control loop based on forces and torques exerted on the robot end effector and an internal control loop based on robot motion. The external control loop is tested with an optimal proportional integrative (PI) and a fuzzy-PI controller. The system performance is validated with real-world experiments involving contact in PUEs.     

冗余度机器人的非接触阻抗控制

机器人与运动物体接触的过程包括非接触、接触过渡和接触3个部分。对于机器人与高速运动目标接触等存在较大冲击的应用实例，进行有效的非接触阻抗控制是实现机器人稳定、安全作业的必然要求。这方面的研究是实现机器人捕捉运动物体的关键技术，在工业、军事和航天等领域均有重要意义。本文对冗余度机器人非接触阻抗控制的理论和应用研究的现状进行了详细的综述，并提出了需要进一步深入研究的一些问题。     

便携数字式超声探伤仪

介绍了超声检测在起重运输机械中的应用,在分析超声波探伤原理的基础上,提出超声波探伤系统的硬件和软件设计方法.该系统用于起重运输以及其相关的行业,是安全作业和运行的有力保障.经过长时间的运行,证实系统工作稳定、性能良好.     

起重运输机械CIMS应用的探讨

通过分析制造业信息化的战略地位和探讨制造业信息化的深刻内涵；介绍了CIMS的概念以及体系结构，并讨论了制造业信息化与CIMS的关系。根据起重运输机械制造的特点，提出了起重运输机械制造企业实施CIMS技术的方法及CIMS应用工程的方针。对于准备实施CIMS的起重运输机械制造企业具有一定的借鉴作用。     

机器人关节间隙误差分析

对关节间隙变量采用二维矢量表示法,分析了机器人关节间隙对机器人末端位置重复精度的影响。假设关节间隙随机性为某种分布,根据概率论建立了机器人末端点概率密度函数,从而得到机器人末端的误差分布函数。利用该方法对RHJD4-16自由度弧焊机器人关节间隙误差进行了分析,研究了关节间隙对空间机器人末端位置重复精度的不确定性影响情况,得到了关节间隙误差与机器人末端位置重复精度的约束关系,为机器人机构设计和机器人精度分析提供了理论依据。     

冗余度机器人自由摆动故障的运动学容错

对于工作在恶劣环境下的机器人 ,容错是一个重要的设计准则。本文针对冗余度机器人发生自由摆动故障 ,提出了以机器人末端误差为评定标准 ,构造了机器人运动学综合性能指标 ,通过使该综合性能指标最小 ,实现机器人的容错。计算和仿真的结果表明 ,按该性能指标进行优化 ,可使关节实现容错 ,并且关节速度平稳、可操作度较高 ,是一个有效的优化方法     

一种管内壁自动清淤器磁转子的特性

物料传输管道的结垢一直是有色冶金行业突出的问题，影响了生产工艺要求和生产过程的自动检测。采用非接触的磁力驱动技术能实现对关键管路内壁进行高效螺旋清洗。围绕研制的一种新型自动清淤器，以设计出一种高性能磁力驱动转子为目标，对内外磁转子结构参数进行了优化，并以磁场的有限元分析为基础对磁转子的磁路、转矩和耦合机理等特性进行分析，为自动清淤器设计提供理论依据。     

果蔬采摘欠驱动机械手爪设计及其力控制

为了实现果蔬的无损采摘,采用欠驱动原理设计出一种结构更简单、通用性更强的末端执行器。欠驱动机构是指驱动器数目少于机构本身自由度数目的机构,基于欠驱动原理设计的机械手结构简单可靠,抓取物体时具有形状自适应能力,手指可完全包络物体,可以通过最大接触力的闭环力反馈控制来实现无损采摘。基于这一设计思想设计出仅靠一个电动机驱动三个手指的机械手爪,通过理论分析、手爪机构设计与建模、结构参数优化,确定设计尺寸制出机械手爪,设计控制电路结合力反馈控制进行抓取试验。试验结果表明该手爪能实现期望的抓取与最大接触力控制功能,并具有控制简单可靠、抓取稳定、不损伤果实等特点。     

RRLC-MS/MS同时测定食品接触材料中9种双酚类化合物迁移量

建立了高分离度快速液相色谱-串联质谱（RRLC-MS/MS）法同时测定食品接触材料中9种双酚类化合物的迁移量。样品经不同类型食品模拟物浸泡后，用Oasis HLB固相萃取柱净化，Agilent poroshell 120 SB-C18柱（2.1 mm×100 mm×2.7 μm）分离，以甲醇和0.1 mmol/L乙酸铵水溶液为流动相进行梯度洗脱，在电喷雾负离子模式（ESI^-）和多反应监测（MRM）模式下进行分析。结果表明，在优化的实验条件下，9种双酚类化合物的线性关系良好，相关系数(R²)均大于0.99，检出限为0.01~0.2 μg/kg，定量限为0.05~1.0 μg/kg，在低、中、高3个加标水平下的回收率为76.9%~113.1%，相对标准偏差为1.9%~6.7%。本方法灵敏、准确、可靠、快速，能满足食品接触材料中9种双酚类化合物迁移量的检测需求。     

Robotic drilling system for titanium structures

Manual drilling in titanium structures is a tedious and labor-intensive work. To reduce man-hour requirements while concurrently improving hole quality, we developed a robotic drilling system for this application. The lean system contains the product holding fixture, the industrial robot, the end effector, the control and sensor system, and the offline programming. The system functions include locating workpiece with a calibration stick or the vision system, weld mark inspection, one-sided clamping, drilling and reaming hole in material stack combinations of titanium and aluminum, and real-time thrust force feedback. The positional accuracy and the repeatability of the system have successfully been placed within the specification’s 0.3 mm tolerance and 0.2 mm tolerance, respectively. The dimensional accuracy of drilled holes in both Ti alloy and Al alloy materials is within H9 tolerance.     

Dynamic load-carrying capacity of mobile-base flexible joint manipulators

A computational technique for obtaining the maximum load-carrying capacity of robotic manipulators with joint elasticity is described while different base positions are considered. The maximum load-carrying capacity which can be achieved by a robotic manipulator during a given trajectory is limited by a number of factors. Probably the most important factors are the actuator limitations, joint elasticity (transmissions, reducers and servo drive system) and relative configuration of the robot with respect to its base. Therefore, both actuator torque capacity constraint considering typical torque-speed characteristics of DC motors and trajectory accuracy constraints considering a series of spherical bounds centred at each desired trajectory are applied as the main constraints. For the desired trajectory of load, different base locations are considered. It is seen that the load-carrying capacity at different base positions is different due to distinct dynamic effects of links and load motions on joint actuators. Then, a general computational algorithm for a multi-link case on a given trajectory and different base location is laid out in detail. Finally, two numerical examples involving a two-link manipulator and a PUMA robot using the method are presented. The obtained results illustrate the effect of base location, dual actuator torque and end effector precision constraints on load-carrying capacity on a given trajectory .     

Experimental study of directional characteristics of a pulsed laser thermoacoustic radiator

Results of experimental research on revealing the dependence of directional characteristics of a pulsed laser thermoacoustic radiator of body ultrasonic waves on the radiator’s energy and geometry parameters are provided. Experimental bench and measurement procedure are described. The results can be used in developing tools for noncontact ultrasonic inspection of metal materials and products.     

Application of the TRIZ creativity enhancement approach to design of passively compliant robotic joint

The essence of the conceptual design is getting the innovative projects or ideas to promise the products with best performance. It has been proved that the theory of inventive problem solution (TRIZ) is a systematic methodology for innovation. The design of a passively compliant robotic joint as an engineering example is illuminated in this paper to show the significance and approaches of applying TRIZ into getting the creative conceptual design ideas. In the robotic joints with passively compliance, the joints are composed of mechanical components such as springs and dampers as internal elements, which absorb the excessive collision force. Passive compliant joints with springs and dampers ensure a smooth contact with the surroundings, especially if robots are in contact with humans, but the passive compliant joints cannot determine precisely the position of the members of the joint or direction of the collision force. The main aim of this work is to show a systematic methodology for innovation as an effective procedure to enhance the capability of developing innovative passive compliant robotic joint and to overcome the main design problems. The TRIZ method will be utilized in order to eliminate the technical contradictions which appear in the passively compliant robotic joint.     

新型两用表面形貌测量仪的研究与开发

开发了一种大量程、高分辨率、非接触式与接触式测量两用的新型表面形貌测量仪器。仪器本体为非接触测量轮廓仪,通过插入接触式测头实现接触测量。非接触式测头采用傅科法自动聚焦原理,接触式测量采用微恒力电感测量原理,它们共用一个音圈电机,各自跟踪电气零位,实现大量程、高分辨率的位移测量。文中还介绍了仪器采用的共运动基面二维工作台。     

Control Performance Evaluation of Serial Urology Manipulator by Virtual Prototyping

Prostatic hyperplasia and tumor are common diseases,and the minimally invasive surgery inserting the instruments through the urethra into the prostate is commonly conducted.Taking the robotic manipulator for such surgery into consideration,this paper analyses the workspace of the end effector,and proposes the distribution error of the fixed point and the tracking error of manipulator end effector on the cone bottom surface of the workspace as the basis for control implementation of the manipulator.The D-H coordinate system of the manipulator is established and the trajectory planning of the end effector in the Cartesian space is carried out.The digital model was established,and dynamics simulation was performed in Solidworks and Matlab/Simulink environment to guide the manipulator design.Trajectory mapping and synchronization control between virtual model and the actual manipulator are real-ized based on digital twin technique.The virtual manipulator can reflect the real-time state of the manipulator with data interaction by comparing the dynamics simulation results with the motor current values obtained by experi-ment.Experiment was carried out with PD feedback control and Newton-Euler dynamics based feedforward control to get the trajectory tracking characteristic of each motor,errors of the fixed point and tracking performance of the end effector of the manipulator.The results show that compared with PD feedback control,feed forward control implementation can achieve a reduction of 30.0％in the average error of the fixed point of the manipulator and a reduction of 33.3％in the maximum error.     

Programmable robotized 'transfer-and-jet' printing for large, 3D curved electronics on complex surfaces

Large, 3D curved electronics are a trend of the microelectronic industry due to their unique ability to conformally coexist with complex surfaces while retaining the electronic functions of 2D planar integrated circuit technologies. However, these curved electronics present great challenges to the fabrication processes. Here, we propose a reconfigurable, mask-free, conformal fabrication strategy with a robot-like system, called robotized'transfer-and-jet' printing, to assemble diverse electronic devices on complex surfaces. This novel method is a ground-breaking advance with the unique capability to integrate rigid chips, flexible electronics, and conformal circuits on complex surfaces. Critically, each process, including transfer printing, inkjet printing, and plasma treating, are mask-free, digitalized, and programmable. The robotization techniques, including measurement, surface reconstruction and localization, and path programming, break through the fundamental constraints of 2D planar microfabrication in the context of geometric shape and size. The transfer printing begins with the laser lift-off of rigid chips or flexible electronics from donor substrates, which are then transferred onto a curved surface via a dexterous robotic palm. Then the robotic electrohydrodynamic printing directly writes submicrometer structures on the curved surface. Their permutation and combination allow versatile conformal microfabrication. Finally, robotized hybrid printing is utilized to successfully fabricate a conformal heater and antenna on a spherical surface and a flexible smart sensing skin on a winged model, where the curved circuit, flexible capacitive and piezoelectric sensor arrays, and rigid digital–analog conversion chips are assembled. Robotized hybrid printing is an innovative printing technology, enabling additive, noncontact and digital microfabrication for 3D curved electronics.     

A feasibility study on a robotic exercise system for mdof physical rehabilitation therapy

This paper presents a robot system developed for medical purpose. A 6-degree-of-freedom robot was introduced for physical exercise and rehabilitation. This system was proposed for stroke patients or patients who cannot use one of their arms or legs. The robot system exercises the hemiplegic part based on the motion of normal part of a patient. Kinematic studies on the human body and robot were applied to develop the robotic rehabilitation exercise system. A clamp which acts as an end effector of the robot to hold a patient was designed and applied to the robot to guarantee the safety of patients. The proposed robotic rehabilitation system was verified by simulations and experiments on arm (elbow and shoulder) motion. Patients are expected to be able to exercise various motions by themselves with the proposed robotic rehabilitation system.     

Stiffness improvement of swirl gripper based on gap height and force estimation

The swirl gripper is an electrically activated noncontact handling device that uses swirling airflow to generate a lifting force. This force can be used to pick up a workpiece placed underneath the swirl gripper without any contact. It is applicable, for example, on a semiconductor wafer production line, where contact must be avoided during the handling and moving of a workpiece to minimize damage. When a workpiece levitates underneath a swirl gripper, the gap height between them is critical for safe handling. Therefore, in this study, we develop a theoretical model of the swirl gripper, based on which a method to estimate the levitation gap height by detecting pressure at two points is proposed. Experiments indicate that the estimated gap height can track changes in actual gap height accurately in real time, when the gap height is relatively small and the inertia of airflow in the gap is negligible. In addition, the force between the gripper and workpiece can also be estimated using the detected pressure. As a result, a desired relationship between the force and gap height can be achieved by adjusting the rotating speed of the fan according to the real-time estimated force and gap height using a microcontroller. The control system was experimentally verified using a desired linear relationship. Because the stiffness of the force decreases with increasing gap height for a constant gripper fan rotating speed, the linear relationship between the force and gap height, which means a constant stiffness, is expected to enhance handling stability of workpieces.     

软体机械臂控制方法研究现状及展望

软体机械臂由于具有多自由度、高灵活性、较强的环境适应能力以及安全可交互性高等优势,近年来在生物医疗和海洋 勘探等诸多领域得到广泛应用。 软体机械臂采用高度可变形的柔性材料制作而成,由于其材料的非线性特征,软体机械臂的精 确控制一直是该领域的研究重点和难点,国内外研究人员针对软体机械臂的控制方法开展了大量研究并取得了较大进展。 但 是目前仍然存在若干问题,亟待探讨解决方法。 为此,本文梳理了近十年来国内外研究人员在软体机械臂的运动控制方法上取 得的研究成果,分析总结了目前软体机械臂常用的控制方法和最新技术等,指出了软体机械臂控制面临的难题与挑战,并对软 体机械臂控制方法的未来发展方向进行了探讨和展望。     

机械式挖掘机建模及动力学分析

利用机器人理论和方法对机械式挖掘机进行建模和动力学研究.首先根据WS-005机械式挖掘机的结构及运动特性,采用机器人建模方法,建立了挖掘机模型,求出其运动学方程;然后结合工程机械作业特点,探讨了挖掘轨迹规划的方法,并给出挖掘过程中的规划结果;最后运用拉格朗日法求出其动力学方程,并分析了挖掘过程中所受的外力,进而给出该过程中动力学结果,为下一步机械式挖掘机的智能控制提供了重要依据.