仿生蛇形机器人结构研究与设计

蛇形机器人各种单元连接结构中,单关节内万向节连接形式具有单元少、结构协调性好等优点.从生物蛇身体结构出发,结合蛇形机器人工作环境,设计一种单关节内万向节连接形式的仿生蛇形机器人结构.对常用万向节结构所用十字轴的分体设计,简化了机器人的结构形式,机器人单元长度为91 mm,单元直径为80mm,机器人零件数量为521件.     

模块化蛇形机器人无线控制器开发

基于无线控制技术和模块化思想,开发出面向蛇形机器人的控制单元,以克服蛇形机器人庞大关节数量而带来的通信控制困难。该控制器下位机采用ARM单片机作为内核处理器,利用其PWM波实现两路舵机的独立速度控制,基于C1100无线收发芯片实现与上位机的通信,并由锂电池供电。上位机采用ARM单片机与C1100芯片接收信息,并通过RS232串口连接至计算机。分析了蛇形蜿蜒、直线蠕动步态,提出了实现这些步态的运动控制方法,进行了实验测试。结果表明,该控制器可靠性、实时性高,便于集成,亦可应用于其他冗余度机器人控制。     

仿生蜘蛛型机器人体系结构研究

分析了六足仿生蜘蛛机器人的体系结构特点,设计了基于无线PS2手柄控制的六足仿生机器人多路舵机控制结构,采用32路舵机控制板、高扭矩舵机MG995实现了关节运动控制,基于控制板上位机开发运动步态实现了机器人一个步态周期内的直线行走、定点转弯运动。实验验证了设计的有效性。     

简易人形机器人设计

根据人体的形态特征和仿生学原理,设计接近于人体尺寸比例的机器人结构,并应用自由度最少的原则设计了符合机器人功能要求的自由度配置方案,设计了一个舵机的驱动器,可以与上位机进行通信,实现对人形机器人的控制,该驱动器可以把上位机发送的指令转换成控制舵机的信号.实验证明：人形机器人能够完成相应的动作,实现机器人的舞蹈演示.     

自由度并联腿机构运动学分析

提出了一种新型的2自由度并联腿机构模型,即2-UPS+U并联腿机构。与多自由度并联机器人相比,该并联腿机构具有结构简单、紧凑、承载能力大、累计误差小、造价低、无冗余约束等优点,在工业设计制造生产及其相关领域内具有广阔的应用前景。利用高等机构学对该并联腿机构进行了自由度分析、运动学分析和工作空间分析,为后期并联腿机构的运动规划以及控制奠定了理论基础。     

玩具舞蹈机器人控制系统关键技术的研究设计

随着机器人技术的发展,机器人已开始进入娱乐领域。此款玩具机器人的各部分机械结构采用电机驱动多自由度运动模式,其硬件控制处理器选用高档单片机AT 90S8535,设计电路采用模块化思想实现,包括电源等5个模块。软件程序设计采用脉宽调制的PWM技术和主程序与定时器中断等三个子程序联合的方式,对机器人动作进行控制,可完成预定编排的各种动作。     

基于机器视觉的写字机器人实验系统设计

设计了一种基于机器视觉的写字机器人实验系统。该系统机械结构包括2自由度运动单元和书写机构;硬件部分由主控、识别、运动控制以及人机交互等模块组成,主控模块使用STM32作为主控制器;软件部分通过使用Bresenham算法结合坐标变换实现书写机构按照特定轨迹进行运动。测试结果表明,写字机器人系统可以完成运动手势识别,控制书写机构运动;也可以通过识别手写笔的运动来控制书写机构进行同步书写。该系统易于实现,且具有运动手势识别准确率高、同步书写精度较高等优点。     

基于网络远程控制的检测机器人系统

介绍一种基于网络远程控制的检测机器人系统取代人工检测方式完成焊缝检测,该系统由检测机器人与控制系统两部分组成。机器人的设计原理,特别是机器人的固定支座设计具有创新性,可在直径变化范围为椎100mm—椎400mm的管道上安装和保证合适的夹紧,实现精确的自动定心;采用剖分式结构能快速定位安装和连接。采用分布式控制方式保证了机器人关节间运动的同步性,避免机器人各关节在运动过程中不同步造成的运动不协调。     

一种新型模块化自重构机器人的运动仿真和试验

根据自重构机器人的特点,设计了一种新型的同构阵列式自重构机器人M-Cubes,其每个单元模块由6个旋转关节和1个立方体连杆组成,具有12个自由度,旋转关节上设计了一种机械式的连接分离机构,连杆内部设计了一种空间传动系统,用一个电机分别带动6个空间均布的关节旋转,机构整体结构上更加简洁、紧凑.对设计的模块进行的基本运动试验表明传动更加高效,连接分离更加可靠,控制更加简单方便.同时开发了一个自重构机器人仿真平台,可以图形化地设计系统的构型、模块的运动和系统的重构过程.利用元胞自动机的局部作用特性,将每个单元模块简化为元胞,结合遗传算法来进化元胞自动机的转移规则,将转移规则作用于每个单元模块,实现分布式控制,仿真结果表明该方法是有效和可行的.     

开放式4自由度教学机器人设计与开发

为适应机械电子工程专业教学的需要,设计开发了具有开放式结构的4自由度教学机器人。机器人由4自由度机械手、PC机、伺服驱动系统和运动控制器4大部分组成。采用交流伺服驱动系统的关节驱动方式,设计了结构精巧的关节传动机构。利用DMC运动控制器,搭建了基于PC机的机器人开放式控制系统硬件结构。控制软件采用V isual C++6.0平台开发,人机交互界面友好,并且具有自动操作、示教再现和仿真模拟功能。整机试验测试表明:设计开发的4自由度机器人结构设计合理,重复定位精度为±2.5 mm,控制系统工作稳定可靠,能够满足教学工作的需要。     

卡思卡特城堡

It is worthy of noting that, whilst Crookston Castle witnessed the earlier and happier portion of Mary's variegated life,     

不同的吃喝玩乐

一、吃和喝吃苹果 eat an apple, 吃药 take medicine,吃糖 have some sweets,吃饭 have one's meals,吃馆子 dine out,吃惊 be surprised/     

漏洞百出的教育

Many college freshmen arrive woefully unprepared to do college work, and as disadvantaged populations continue to grow, the share of the American work force that has made it through college is expected to plummet. Many experts blame that educational failure not just on high schools but also on colleges. School & College, a special report by The Chronicle, looks at efforts to fix the system. What reforms would better prepare students for college? What should schools and colleges be doing differently? How should state and federal officials help?     

Western and Eastern culture differences in commercial field

The communication of people partially is the communication of cultures. Culture has a direct effect on international commercial activities in all aspects. Different conceptions about time, space, equality, law and the like, lead people to deal with things in different ways. So to know cultures of the counterpart is to facil-itate our enterprises so as to have a smooth and successful communication in commercial activity.     

只要努力,不要后悔

There are numbers of crossroads on our long and unpredictable life journey where we totally have no idea about which direction to choose. No matter what our decision is, we should not turn back, but face the music and go ahead instead. I am this kind of girl who always does try without regretting, one example is how I dealt with my love.     

浅谈移民问题

Migration occurs behind a variety of reasons and has a great effect on the whole world. People may migrate in order to improve their economic situation, or in order to escape civil strife, persecution, and environmental disasters. The impact of migration is complex, bringing both benefits anddisadvantages. This paper briefly talks about the causes of migration, the allocation of benefits, and the ways in which individual countries and the international community deal with this important subject.     

风的曲线

Rosco and I wait for the fishermen to return.I sit at a wooden bench near the store at Mt.Baker Resort and watch the clouds change shape. Rosco has my belt around his neck and an eight foot tow chain hooked to a tree. Dogs must be on a leash. Ducks and rabbits are loose.     

团图为数的图中的闭团贯数

Given a graph G,a subgraph C is called a clique of G if C is a complete subgraph of G maximal under inclusion and |C|≥2. A clique-transversal set S of G is a set of vertices of G such that S meets all cliques of G. The clique-transversal number, denoted as TC (G), is the minimum cardinality of a clique-transversal set in G. The clique-graph of G, denoted as K (G), is the graph obtained by taking the cliques of G as vertices, and two vertices are adjacent if and only if the corresponding cliques in G have nonempty intersection. Let F be a class of graphs G such that F={G|K(G) is a tree}. In this paper the graphs in F having independent clique-transversal sets are shown and thus TC (G)/|G|≤1/2 for all G ∈ F.     

Sister Carrie, an Adherent of Desires

Sister Carrie is one of the most controversial characters in American literature.Thought as a "fallen woman" firstly,she was defined as a "new woman" by some critics later. However, by digging into the motivaton behind the whole process of Carrie's "success", the relationship between Carrie and her creator (the author), the social conditions of then American, it can be found that Carrie has never been free-standing on her thought and she has never found her real-sdf even after becoming a famous actress. In a society dominated by mass consumerism Carrie is only an adherent of her own desires. She also is a representative of all those country girls flooded into cities, a symbol and a sacrifice of the urbanization of America in a time countryside was overcome by cities.