The advent of parametric design has resulted in a marked increase in the complexity of building.Unfortunately,traditional construction methods make it difficult to meet the needs.Therefore,construction robots have bec...The advent of parametric design has resulted in a marked increase in the complexity of building.Unfortunately,traditional construction methods make it difficult to meet the needs.Therefore,construction robots have become a pivotal production tool in this context.Since the arm span of a single robot usually does not exceed 3 meters,it is not competent for producing large-scale building components.Accordingly,the extension of the robot,s working range is often achieved by external axes.Nevertheless,the coupling control of external axes and robots and their kinematic solution have become key challenges.The primary technical difficulties include customized construction robots,automatic solutions for external axes,fixed axis joints,and specific motion mode control.This paper proposes solutions to these difficulties,introduces the relevant basic concepts and algorithms in detail,and encapsulates these robotics principles and algorithm processes into the Grasshopper plug-in commonly used by architects to form the FURobot software platform.This platform effectively solves the above problems,lowers the threshold for architects,and improves production efficiency.The effectiveness of the algorithm and software in this paper is verified through simulation experiments.展开更多
Passive bionic feet,known for their human-like compliance,have garnered attention for their potential to achieve notable environmental adaptability.In this paper,a method was proposed to unifying passive bionic feet s...Passive bionic feet,known for their human-like compliance,have garnered attention for their potential to achieve notable environmental adaptability.In this paper,a method was proposed to unifying passive bionic feet static supporting stability and dynamic terrain adaptability through the utilization of the Rigid-Elastic Hybrid(REH)dynamics model.First,a bionic foot model,named the Hinge Tension Elastic Complex(HTEC)model,was developed by extracting key features from human feet.Furthermore,the kinematics and REH dynamics of the HTEC model were established.Based on the foot dynamics,a nonlinear optimization method for stiffness matching(NOSM)was designed.Finally,the HTEC-based foot was constructed and applied onto BHR-B2 humanoid robot.The foot static stability is achieved.The enhanced adaptability is observed as the robot traverses square steel,lawn,and cobblestone terrains.Through proposed design method and structure,the mobility of the humanoid robot is improved.展开更多
以工业机器人柔性制造生产线为研究对象,文章介绍了Robot Studio软件对生产线仿真建模的方案。根据零件加工工艺和生产流程,构建了机器人生产线的空间布局,利用三维建模软件为机器人设计取放料手爪,创建Smart组件实施动画效果,采集现场...以工业机器人柔性制造生产线为研究对象,文章介绍了Robot Studio软件对生产线仿真建模的方案。根据零件加工工艺和生产流程,构建了机器人生产线的空间布局,利用三维建模软件为机器人设计取放料手爪,创建Smart组件实施动画效果,采集现场所需的I/O信号进行设备通讯,实现了一台ABB(Asea Brown Boveri)机器人为四台数控机床自动上下料的轨迹规划、离线编程和仿真过程。该设计方案与实际生产同步,为设计者和管理者提供生产线设计的理论依据和试验平台,降低了生产线设计、调试的成本,提高了生产效率。展开更多
针对船体密封舱、箱柜等狭窄空间普遍存在的机器人难以工作问题,提出了一种新型6-DOF(degrees of freedom)机器人。首先分析了该机器人的机械结构,基于D-H坐标理论建立了机器人D-H坐标表格以及机器人正、逆运动学方程,其次应用MATLAB对...针对船体密封舱、箱柜等狭窄空间普遍存在的机器人难以工作问题,提出了一种新型6-DOF(degrees of freedom)机器人。首先分析了该机器人的机械结构,基于D-H坐标理论建立了机器人D-H坐标表格以及机器人正、逆运动学方程,其次应用MATLAB对机器人的运动学进行了仿真,结果表明所得的机器人正、逆运动学方程完全正确;最后设计了虚拟样机,利用RobotStudio仿真分析了机器人箱体焊接的优点;为进一步验证设计的机器人运动性能,与通用6-DOF机器人做了对比分析。研究结果表明新型机器人运动的可行性,为设计适应箱柜等狭窄空间的工业机器人提供了理论依据。展开更多
A robust fault diagnosis approach is developed by incorporating a set-membership identification (SMI) method. A class of systems with linear models in the form of fault related parameters is investigated, with model u...A robust fault diagnosis approach is developed by incorporating a set-membership identification (SMI) method. A class of systems with linear models in the form of fault related parameters is investigated, with model uncertainties and parameter variations taken into account explicitly and treated as bounded errors. An ellipsoid bounding set-membership identification algorithm is proposed to propagate bounded uncertainties rigorously and the guaranteed feasible set of faults parameters enveloping true parameter values is given. Faults arised from abrupt parameter variations can be detected and isolated on-line by consistency check between predicted and observed parameter sets obtained in the identification procedure. The proposed approach provides the improved robustness with its ability to distinguish real faults from model uncertainties, which comes with the inherent guaranteed robustness of the set-membership framework. Efforts are also made in this work to balance between conservativeness and computation complexity of the overall algorithm. Simulation results for the mobile robot with several slipping faults scenarios demonstrate the correctness of the proposed approach for faults detection and isolation (FDI).展开更多
A new explosion-proof walking system was designed for the coal mine rescue robot(CMRR) by optimizing the mechanical structure and control algorithm. The mechanical structure innovation lies mainly in the dual-motor dr...A new explosion-proof walking system was designed for the coal mine rescue robot(CMRR) by optimizing the mechanical structure and control algorithm. The mechanical structure innovation lies mainly in the dual-motor drive tracked unit used, which showed high dynamic performance compared with the conventional tracked unit. The control algorithm, developed based on decision trees and neural networking, facilitates autonomous switching between "Velocity-driven Mode" and "Torquedriven Mode". To verify the feasibility and effectiveness of the control strategy, we built a self-designed test platform and used it to debug the control program; we then made a robot prototype and conducted further experiments on single-step, ramp, and rubble terrains. The results show that the proposed walking system has excellent dynamic performance and the control strategy is very efficient, suggesting that a robot with this type of explosion-proof walking system can be successfully applied in Chinese coal mines.展开更多
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 ...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 cities.Mechanical 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,respectively.The 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 kg.Furthermore,the robustness of the controllers is revealed since these controllers can stabilize the robot even with unknown external disturbances.展开更多
基金National Key R&D Program of China(Nos.2023YFC3806900,2022YFE0141400)。
文摘The advent of parametric design has resulted in a marked increase in the complexity of building.Unfortunately,traditional construction methods make it difficult to meet the needs.Therefore,construction robots have become a pivotal production tool in this context.Since the arm span of a single robot usually does not exceed 3 meters,it is not competent for producing large-scale building components.Accordingly,the extension of the robot,s working range is often achieved by external axes.Nevertheless,the coupling control of external axes and robots and their kinematic solution have become key challenges.The primary technical difficulties include customized construction robots,automatic solutions for external axes,fixed axis joints,and specific motion mode control.This paper proposes solutions to these difficulties,introduces the relevant basic concepts and algorithms in detail,and encapsulates these robotics principles and algorithm processes into the Grasshopper plug-in commonly used by architects to form the FURobot software platform.This platform effectively solves the above problems,lowers the threshold for architects,and improves production efficiency.The effectiveness of the algorithm and software in this paper is verified through simulation experiments.
基金supported by the National Natural Science Foundation of China(Grant No.62073041)the Open Fund of Laboratory of Aerospace Servo Actuation and Transmission(Grant No.LASAT-2023A04)the Fundamental Research Funds for the Central Universities(Grant Nos.2024CX06011,2024CX06079)。
文摘Passive bionic feet,known for their human-like compliance,have garnered attention for their potential to achieve notable environmental adaptability.In this paper,a method was proposed to unifying passive bionic feet static supporting stability and dynamic terrain adaptability through the utilization of the Rigid-Elastic Hybrid(REH)dynamics model.First,a bionic foot model,named the Hinge Tension Elastic Complex(HTEC)model,was developed by extracting key features from human feet.Furthermore,the kinematics and REH dynamics of the HTEC model were established.Based on the foot dynamics,a nonlinear optimization method for stiffness matching(NOSM)was designed.Finally,the HTEC-based foot was constructed and applied onto BHR-B2 humanoid robot.The foot static stability is achieved.The enhanced adaptability is observed as the robot traverses square steel,lawn,and cobblestone terrains.Through proposed design method and structure,the mobility of the humanoid robot is improved.
文摘以工业机器人柔性制造生产线为研究对象,文章介绍了Robot Studio软件对生产线仿真建模的方案。根据零件加工工艺和生产流程,构建了机器人生产线的空间布局,利用三维建模软件为机器人设计取放料手爪,创建Smart组件实施动画效果,采集现场所需的I/O信号进行设备通讯,实现了一台ABB(Asea Brown Boveri)机器人为四台数控机床自动上下料的轨迹规划、离线编程和仿真过程。该设计方案与实际生产同步,为设计者和管理者提供生产线设计的理论依据和试验平台,降低了生产线设计、调试的成本,提高了生产效率。
文摘针对船体密封舱、箱柜等狭窄空间普遍存在的机器人难以工作问题,提出了一种新型6-DOF(degrees of freedom)机器人。首先分析了该机器人的机械结构,基于D-H坐标理论建立了机器人D-H坐标表格以及机器人正、逆运动学方程,其次应用MATLAB对机器人的运动学进行了仿真,结果表明所得的机器人正、逆运动学方程完全正确;最后设计了虚拟样机,利用RobotStudio仿真分析了机器人箱体焊接的优点;为进一步验证设计的机器人运动性能,与通用6-DOF机器人做了对比分析。研究结果表明新型机器人运动的可行性,为设计适应箱柜等狭窄空间的工业机器人提供了理论依据。
基金supported by the National Natural Science Foundation of China(616732546157310061573101)
文摘A robust fault diagnosis approach is developed by incorporating a set-membership identification (SMI) method. A class of systems with linear models in the form of fault related parameters is investigated, with model uncertainties and parameter variations taken into account explicitly and treated as bounded errors. An ellipsoid bounding set-membership identification algorithm is proposed to propagate bounded uncertainties rigorously and the guaranteed feasible set of faults parameters enveloping true parameter values is given. Faults arised from abrupt parameter variations can be detected and isolated on-line by consistency check between predicted and observed parameter sets obtained in the identification procedure. The proposed approach provides the improved robustness with its ability to distinguish real faults from model uncertainties, which comes with the inherent guaranteed robustness of the set-membership framework. Efforts are also made in this work to balance between conservativeness and computation complexity of the overall algorithm. Simulation results for the mobile robot with several slipping faults scenarios demonstrate the correctness of the proposed approach for faults detection and isolation (FDI).
基金Project(2012AA041504)supported by the National High-Tech Research and Development Program of ChinaProject(KYLX15_1418)supported by the 2015 Annual General University Graduate Research and Innovation Program of Jiangsu Province,ChinaProject supported by the Priority Academic Program Development of Jiangsu Higher Education Institutions(PAPD),China
文摘A new explosion-proof walking system was designed for the coal mine rescue robot(CMRR) by optimizing the mechanical structure and control algorithm. The mechanical structure innovation lies mainly in the dual-motor drive tracked unit used, which showed high dynamic performance compared with the conventional tracked unit. The control algorithm, developed based on decision trees and neural networking, facilitates autonomous switching between "Velocity-driven Mode" and "Torquedriven Mode". To verify the feasibility and effectiveness of the control strategy, we built a self-designed test platform and used it to debug the control program; we then made a robot prototype and conducted further experiments on single-step, ramp, and rubble terrains. The results show that the proposed walking system has excellent dynamic performance and the control strategy is very efficient, suggesting that a robot with this type of explosion-proof walking system can be successfully applied in Chinese coal mines.
基金Project(61273344)supported by the National Natural Science Foundation of ChinaProject(SKLRS-2010-ZD-40)supported by the StateKey Laboratory of Robotics and Systems(HIT),China+1 种基金Project(2008AA04Z208)supported by the National Hi-tech Research and Development Program of ChinaProject(20121101110011)supported by PhD Program Foundation of Ministry of Education,China
文摘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 cities.Mechanical 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,respectively.The 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 kg.Furthermore,the robustness of the controllers is revealed since these controllers can stabilize the robot even with unknown external disturbances.
