摘要：This paper proposes two novel rescue robots,including a cutter robot and a jack robot,which are aimed to contribute to rescue activities such as to cut through obstacles and to jack up debris in dangerous sites and narrow spaces,where a rescue team can not work or ***,a multilinked tracked rescue robot platform composed of connected crawler vehicles is developed,which has high mobility on irregular terrain and ability to move into narrow collapsed ***,the cutter robot and jack robot are designed on the basis of rescue robot platform equipped with a cutter or a jack mechanism and corresponding manipulators in the front *** cutter refitted by an angle grinder is able to cut through 10 mm diameter steel *** electric jack mechanism designed based on multiple layers screw sleeves structure can lift up 300 kg load from 70 mm to 400 *** results validate the capability of the two rescue robots.

摘要：A design and optimization approach of dynamic and control performance for a two-DOF planar manipulator was *** the kinematic and dynamic analysis,several advantages of the mechanism were illustrated,which made it possible to obtain good dynamic and control performances just through mechanism *** on the idea of design for control(DFC),a novel kind of multi-objective optimization model was *** were three optimization objectives:the index of inertia,the index describing the dynamic coupling effects and the global condition *** indexes to characterize the designing requirements such as the velocity of end-effector,the workspace size,and the first mode natural frequency were regarded as the *** cross-section area and length of the linkages were chosen as the design ***-II algorithm was introduced to solve this complex multi-objective optimization *** criteria from engineering experience were incorporated into the selecting of final parameters among the obtained Pareto solution ***,experiments were performed to validate the linear dynamic structure and control performances of the optimized mechanisms.A new expression for measuring the dynamic coupling degree with clear physical meaning was *** results show that the optimized mechanism has an approximate decoupled dynamics structure,and each active joint can be regarded as a linear SISO *** control performances of the linear and nonlinear controllers were also *** can be concluded that the optimized mechanism can achieve good control performance only using a linear controller.

摘要：A macro-micro dual-drive positioning system showing good potential for high acceleration and high precision positioning required in IC packaging applications is devised in this paper. The dual-drive positioning stage uses a VCM (voice coil motor) driven macro positioning stage and a PZT piezo-electric driven micro positioning stage. The coupling characteristics of the system are analyzed to produce a control structure with a micro positioning stage that can dynamically compensate for the positioning error produced by the macro positioning stage. Models of the two positioning stages are described. The models cover both the mechanism and the actuator. For the macro positioning stage, friction characteristics are taken into account, and a controller with an LQG (linear-quadratic-Gaussian) control algorithm combining a feed-forward compensation algorithm is derived. A PID controller is used to control the micro positioning stage. Detailed designs are derived for the proposed approach, and the performance is validated by simulation.

摘要：活动机器人获得了的 nonholonomic 的视觉伺服稳定广泛的注意。当前，这个问题的解决方案不管多么不认为可见性限制和致动器是限制，因此设计控制器是困难的在实际申请认识到令人满意的性能。在这份报纸，为一个活动机器人的视觉伺服稳定的一个预兆的控制器被介绍。第一，利用产生速度的命令的一个运动学的预兆的稳定控制器被介绍。然后，来临以便 asymptotically 做活动机器人的实际速度到需要的，一个动态预兆的控制器被设计。建议预兆的控制器能容易处理限制。最后，几模拟被执行，并且结果说明建议控制计划是有效的解决视觉伺服稳定问题。

摘要：This paper presents a new developed anthropomorphic robot dexterous hand:HIT/DLR Hand Ⅱ.The hand is composed of an independent palm and five identical modular fingers,and each finger hasthree degree of freedom(DOFs)and four *** the actuators and electronics are integrated in thefinger body and the *** to using a new actuator,drivers and a novel arrangement,both thelength and width of the finger is about two third of its former *** using the wire coupling mecha-nism,the distal phalanx transmission ratio is kept exactly 1:1 in the whole movement *** packingmechanism which is implemented directly in the finger body and palm not only reduces the size of wholehand but also make it more ***,the new designed force/torque and positionsensors are integrated in the hand for increasing multisensory *** evaluate the performances ofthe finger mechanism,the position and impedance control experiments are conducted.

摘要：Two types of coaxial self-balancing robots(CSBR)were proposed,one can be used as a mobile robot platform for parts transporting in unmanned factory or as an inspector in dangerous areas,and the other can be used as a personal transporter ridden in *** designing and control structures as well as control strategies were described and compared in order to get a general way to develop such robots.A state feedback controller and a fuzzy controller were designed for the robot using DC servo motors and the robot using torque motors,*** experiments indicate that the robots can realize various desired operations smoothly and agilely at the velocity of 0.6 m/s with an operator of 65 ***,the robustness of the controllers is revealed since these controllers can stabilize the robot even with unknown external disturbances.

摘要：提出一种能通过生物医学或机械传感器测量人机交互信号感知人体运动的用于助力的下肢外骨骼,并估计人体步态轨迹以快速准确地实施相应动作。提出安装在外骨骼上的力矩传感器直接获得物理人机交互(physical human-robot interaction,pH RI)力矩信息。采用卡尔曼平滑器消除噪声并平滑信号,定义了从pH RI力矩到人体步态轨迹的映射关系。通过外骨骼在运动期间的实时状态推导该映射,并通过基于地面反作用力的阈值方法识别人体运动相位。基于相位识别,通过所提算法估计人体步态,将步态辨识结果作为控制器的参考输入。用一种常规比例-积分-微分(proportional-integral-derivative,PID)控制策略控制外骨骼跟随人体步态运动。测试人员穿戴外骨骼以自然速度在水平面进行行走实验,实验结果验证了所提策略的有效性。

摘要：为了提高六自由度轻量型机器人的轨迹跟踪精度同时减小其同步误差,提出一种基于相邻耦合误差分析的非线性PD偏差耦合同步控制方法。建立并验证了该机器人的数学模型,包括运动学模型、动力学模型以及样条轨迹规划。因为难以描述复杂轨迹下的机器人实时轮廓误差,因此本文引入相邻耦合误差来解决这一问题。结合机器人非线性控制以及耦合特性,设计了非线性PD偏差耦合同步控制器,并通过仿真分析进行验证。伺服控制试验系统由激光跟踪系统、机器人机械系统以及基于EtherCAT通讯的伺服控制系统构成,实验数据表明,该控制方法可使机器人同步误差大幅度减小,并且最大跟踪误差由0.33 mm缩减到0.1 mm。实验结果验证了控制算法的有效性,从而证明了该控制策略能够有效改善机器人的轨迹跟踪精度。

摘要：近年来,一种新型的欠驱动绳索桁架式机械臂(UCTM)因适用于航空航天应用而引发了关注。然而,无重力平面欠驱动机械臂的轨迹跟踪控制问题是一个很大的挑战,因为该系统包含二阶非完整约束,大多数经典控制方法不适用于此类系统。此外,类桁架结构的复杂性导致动力学建模和控制器设计过程中产生计算复杂性和高度非线性的巨大困难。因此,解决这些困难对于UCTM未来的应用至关重要。针对上述问题,本文提出了一种UCTM的动力学模型建立方法和基于部分反馈线性化(PFL)的轨迹跟踪控制方法,通过跟踪给定的关节角轨迹,实现UCTM从初始位置到期望位置的控制目标。动力学建模过程中提出了一种模型等效方法,使UCTM与三连杆机械手在动力学行为上等效。提出了拉格朗日方程与复向量法相结合的方法,简化了推导过程。依据已建立的动力学模型,提出一种坐标变换方法,将控制力矩阵转化为欠驱动系统的常规形式,从而将控制力从未驱动项中分离出来,使其适用于PFL方法。然后,将PFL方法与线性二次型调节(LQR)控制方法相结合设计轨迹跟踪控制器,实现关节角跟踪给定期望轨迹的目标。仿真实验验证了所提方法的正确性和有效性。

摘要：本文介绍了一种基于横向可移动栅极场效应晶体管(LMGFET)的新型微型力传感器的开发。提出了一种精确的电气模型,用于小型LMGFET器件的性能评估,与以前的模型相比,其精度有所提高。采用了一种新型三明治结构,该结构由一个金交叉解耦栅阵列层和两个软光阻层SU-8组成。通过所提出的双差分传感结构,LMGFET横向工作在垂直干扰下的输出电流被大大消除,所提出传感器的相对输出误差从4.53%(传统差分结构)降低到0.01%。提出了一种实用的传感器制造工艺,并对其进行了模拟。基于LMGFET的力传感器的灵敏度为4.65μA·nN^(-1),可与垂直可移动栅极场效应晶体管(VMGFET)器件相媲美,但非线性度提高了0.78%,测量范围扩大了±5.10μN。这些分析为LMGFET器件的电气和结构参数提供了全面的设计优化,并证明了所提出的传感器在生物医学显微操作应用中具有良好的力传感潜力。