软体操作器结构设计及植入式光纤传感方法

为解决微创手术软体机器人的形状实时监测问题,将刻有三个光纤布拉格光栅的单根光纤植入软体操作器中,利用其研究柔性硅胶软体操作器光纤传感和三维形状重构方法。进行了软体操作器的结构设计及模型建立,并对光纤光栅波长漂移量和软体操作器弯曲曲率之间的关系进行了理论分析;通过实验验证了软体操作器结构设计及其模型建立的有效性,测试了软体操作器不同弯曲状态下三个FBG传感器的反射谱特征及其变化规律;通过分析三个FBG传感器的中心波长漂移量,利用线性插值算法计算出软体操作器在不同弯曲状态下的曲率等参数,并结合曲线拟合方法实现软体操作器的三维形状重构。实验结果表明:植入式光纤光栅传感方法可以实现硅胶软体手术操作器的三维形状传感,在微创外科手术领域具有广阔的应用前景。     

机器人通过奇点的运动学逆问题的数值解法

机器人在完成其规划动作时,常可能要通过其运动链的奇点,这时求解其运动学逆问题的通用算法遇到本质的困难,本文给出了一种算法,它可以成功地克服这个困难。文中还给出了计算实例。     

一类关节型机器人操作手的迭代学习控制

针对一类机器人操作手，提出了一种设计机器人操作手迭代学习控制的新方法，与其它现有的迭代学习控制方法相比较，当折合到机器人操作手关节轴上的驱动装置惯量足够大时，可以用驱动装置的动力学特性参数确定学习增益，克服了传统迭代学习控制方法由多次尝试选取学习增益的缺点，增强了实用性。在实际机器人操作手上的实验结果充分表明了新提出方法可获得较高学习速度和控制精度的优越性。     

考虑热应变的柔性并联空间机械臂动力学

研究考虑热应变的柔性并联空间机械臂动力学性态。用Jourdain速度变分原理建立各机械臂的动力学变分方程,在此基础上根据各物体之间的运动学约束关系,建立柔性多体系统的微分代数混合动力学方程。数值仿真结果表明,当温度升高时,机械臂的轴向约束力和中心刚体的质心运动速度均出现显著振荡,而适当减小温度变化率,可以有效地控制振幅。     

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为了实现 EAST 装置真空室内的内窥多关节机械臂的实时高精度控制,提出了一种逆运动学算法,即建立机械臂多变量的方程组,转化成为矩阵的特征值问题求解。为了验证和满足实际控制的需要,还基于 VC++6.0 开发了 MFC 运动学算法程序。结果表明,该算法能在 ms 级别内得到机械臂的所有运动学逆解。     

Delayed feedback control experiments on some flexible structures

In recent decades,studies on delayed system dynamics have attracted increasing attention and advances have been achieved in stability,nonlinearity,delay identification, delay elimination and application.However,most of the existing work is on the theoretical basis and little is on the experiment.This paper presents our experimental studies on delayed feedback control conducted in recent years with the focus on the discussion of a DSP-based delayed experiment system.Some phenomena in our delay experiments are discussed and a few topics of interest for further research are brought forward.     

多尺度法在时滞弹性关节机械臂非线性振动问题中的应用

针对非线性弹性关节机械臂,研究传动过程中的时滞效应对机械臂系统周期振动的影响．本文改进了具有弹性关节的非线性机械臂动力学模型,引入时滞参数,应用多尺度法,得到系统的近似解析解,考察了时滞对机械臂系统周期运动的影响规律．数值软件计算结果表明解析解与数值解具有较好的吻合度．从而验证了本文多尺度方法的有效性和正确性．     

Non-linear vibration of a single link viscoelastic Cartesian manipulator

In this present work, the non-linear behavior of a single-link flexible visco-elastic Cartesian manipulator is studied. The temporal equation of motion with complex coefficients of the system is obtained by using D’Alembert's principle and generalized Galarkin method. The temporal equation of motion contains non-linear geometric and inertia terms with forced and non-linear parametric excitations. It may also be found that linear and non-linear damping terms originated from the geometry of the large deformation of the system exist in this equation of motion. Method of multiple scales is used to determine the approximate solution of the complex temporal equation of motion and to study the stability and bifurcation of the system. The response obtained using method of multiple scales are compared with those obtained by numerically solving the temporal equation of motion and are found to be in good agreement. The response curves obtained using viscoelastic beams are compared with those obtained from a linear Kelvin-Voigt model and also with an equivalent elastic beam. The effect of the material loss factor, amplitude of base excitation, and mass ratio on the steady state responses for both simple and subharmonic resonance conditions are investigated.     

利用Backstepping法设计机械手跟踪控制器

针对机械手跟踪控制问题提出了一种新的设计方法 .此法应用 Bachstepping方法的思想 ,保证系统稳定的条件下 ,同时设计控制规律和观测器 ,并用数字仿真对设计法的正确性进行了验证