基于人体上肢运动信息的助残手抓取意图识别方法

在助残领域,助残手如能很好地识别手残人的动作意图,则能帮助手残人恢复一定的运动能力.通过研究正常人上肢的动作规律,提出了一种基于人体上肢运动信息的助残手抓取意图识别方法.利用角速度传感器采集健康人系鞋带时的动作数据,分析上肢角速度的变化与上肢运动状态之间的联系.通过实验发现,在上肢的连续动作中,手指的抓取操作发生在手臂...     

基于混沌粒子群优化算法的空间机械臂轨迹规划算法

针对自由漂浮状态下的空间机械臂系统,研究了基座姿态扰动最小的轨迹规划问题。首先通过正弦函数参数化机械臂各个关节,在机械臂关节角速度、角加速度以及基座姿态变化范围受限的约束条件下,定义了基座姿态扰动最小的目标函数,然后提出了基于混沌粒子群算法的轨迹优化策略,并给出了具体求解步骤。数值算例结果表明,在满足系统的约束条件下,机械臂关节变化平缓,不存在角速度突变的情况,并且比标准粒子群算法具有更快的收敛速度,在优化轨迹下进行运动仿真,结果表明终止时刻基座姿态扰动为1.3708°(三轴合成),而梯形规划的姿态扰动为8.5459°,优化后使得姿态的扰动减小84%,从而说明所提出的算法能够有效减小机械臂运动对基座姿态的扰动。     

人体上肢运动的Kane动力学模型

建立了人体上肢3刚体7自由度的多刚体模型，并应用Kane方法建立了上肢鞭打动作的物理模型，计算出上肢各环节在鞭打动作过程中的肌肉力矩和关节反作用力．实践证明，Kane方法在描述和计算上肢运动的形式和力矩时具有列解方程规范简洁、编程计算方便高效的特点，计算结果能够反映动作实际．通过对棒球投掷动作上肢三个环节力和力矩进行计算与分析，初步了解了上肢各环节在运动过程中肌肉力矩和关节反作用力与动作技术的关系．     

基于多项式插值的太阳帆板展开最优控制

建立了航天器太阳帆板展开运动模型,运用高阶多项式插值方法逼近太阳帆板关节运动轨迹,将太阳帆板关节铰耗散能作为目标函数,将插值多项式的系数作为优化参数,采用序列二次规划法(SQP)优化求解了关节运动轨迹曲线。数值仿真结果表明:航天器本体和太阳帆板从初始位置到终端位置的过程中,能准确到达目标位形,轨迹平滑连续,没有迂回运动,保证了系统展开过程的平稳性;控制输入变化幅度较小,且始末时刻控制输入均为零,验证了本文方法的有效性。     

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前手翻屈体前空翻2周是男子跳马最高难度动作之一. 迄今,我国只有胡俊捷曾完成 该动作. 本文通过三维运动学分析技术揭示了胡俊捷完成前手翻屈体前空翻2周动作的运动 学规律与技术特点,获得了身体重心和主要关节的位移,水平速度和垂直速度及关节角度等 运动学指标的变化. 这些结果可为我国运动员发展和改进此类动作提供理论依据和技术参 考.     

汽车薄钢板应力应变曲线及屈服轨迹的研究

采用十字形双向拉伸的实验方法对两种汽车用薄钢板BH220和SPEN进行了不同 加载路径下的双向拉伸试验，得到了不同应力状态下的应力应变关系曲线，同时，根据单位 体积塑性功相等的原则，确定了两种钢板等效塑性应变从0.2\%$\sim$2\%的实验屈服轨迹. 结果分析表明：不同加载路径下板料的应力应变关系不同，随着加载比例由单拉到等双拉状 态，板料的硬化指数逐步增大；实验屈服轨迹呈外凸性，且以等双拉为界的上下部分屈服轨 迹不对称，随着变形程度的增加，屈服轨迹向外扩大，但单拉时强化程度最小，而等双拉 时最大. 对BH220和SPEN钢板的实验屈服轨迹与几种常用理论屈服轨迹的比较发现，Hosford各向 异性屈服准则的理论轨迹与实验结果最为接近，Hill48准则与实验结果相差最大，此外一 向被视为只适用于各向同性材料的Mises准则与实验结果也较为接近，其他几个屈服准则的 理论屈服轨迹与实验点相差较大.     

振动驱动移动系统平面避障运动分析

近年来,工业机器人的应用领域日益广泛,可移动机器人的发展备受关注,为了在一些复杂环境中准确地完成作业,学者们提出并研究了振动驱动移动系统.本文研究了在各向异性黏性摩擦环境中一类有两个在平行轨道内做正弦运动的内部质量块的振动驱动移动系统的运动规律,提出了使系统完成包括避障等规定作业的驱动设计方法.首先利用第二类拉格朗日方程,建立了系统的动力学方程;然后,利用速度Verlet积分法分析了系统的运动规律,得到了内部驱动参数与系统运动轨迹、运动速度的关系;最后,结合振动驱动移动系统的运动规律,提出了使系统沿预设路径运动和实现避障运动的驱动设计方法.通过曲线离散得到了系统沿预设路径运动的移动轨迹,进而通过改变内部质量块的驱动参数,使系统沿预设路径运动.为了使移动系统在障碍物环境中达到目标位置,提出了结合栅格法,Floyd算法及最小顶点圆法的优化的路径规划计算方法,得到了振动驱动移动系统在障碍物环境中运动的最优路径,并通过改变内部质量块的驱动参数实现了移动系统的避障运动.     

仿青蛙机器人跳跃之力学分析与轨迹优化

目前,相比传统的轮式机器人,离散性运动的跳跃机器人具有更好的移动性能,得到了广泛的应用.本文从仿生学角度出发,选择具有优秀跳跃性能和合理运动结构的青蛙作为研究对象,建立了平面连杆机构仿青蛙机器人跳跃模型.在该模型的基础上,建立了仿青蛙机器人起跳阶段的运动学和动力学模型,得到了起跳阶段机器人各关节力矩与各关节运动轨迹,质心速度,质心加速度间的关系.结合遗传算法,对机器人在起跳阶段的跳跃轨迹进行了优化.在此基础上,从能量角度出发,对机器人在腾空阶段的跳跃轨迹进行了优化,得到了机器人最佳的跳跃轨迹.结合Matlab仿真分析,验证了方案的正确性和可行性.     

基于Clamped B样条的空间非合作目标抓捕策略研

空间机械臂技术是未来实施在轨服务与维护任务的关键技术之一. 利用机械臂对空间非合作目标, 特别是翻滚目标的抓捕仍然存在巨大的挑战. 本文提出一种基于Clamped B样条的空间非合作目标抓捕策略方案. 在对非合作目标与空间机械臂运动学与动力学分析的基础上, 结合非合作目标被空间机械臂抓捕后的动静态对偶性分析, 构建抓捕后的力可操作度椭球作为抓捕策略设计的优化指标. 其次, 考虑目标的运动预测和空间机械臂的抓捕能力图谱构建, 确定空间机械臂应对目标的最优抓捕时机与抓捕终端状态. 基于Clamped B样条对空间机械臂各关节轨迹进行时间归一化参数描述, 并对抓捕过程中的机械臂关节角、速度、避撞、抓捕走廊等约束进行数学变换, 最终将抓捕策略转换为多约束、多目标的非线性优化问题, 利用自适应惯性权重的粒子群优化算法进行求解. 将所设计的抓捕策略应用于空间七自由度运动学冗余机械臂, 实现了对空间中翻滚目标的成功捕获, 验证了所提抓捕策略的可行性与有效性.      

模板厚度与支距的优化探讨

本文探讨模板厚度与支承间距的优化配合,以求模板体系的总价最小.首先建立板厚与支距的力学关系式,作出模板厚度、支距、体系总价的关系曲线;然后得出不同荷载下同型模板厚度与支距优化及体系最小总价的曲线;进而推求出荷载、结构、材质都变化时体系总价最小的支模优化系列曲线.为选择最经济的模板厚度,提供了一个可供实用的方法并指出注意点.     

Kinematic Model for Determination of Human Arm Reachable Workspace

In physiotherapy, a standard method to determine the movability and functionality of the human arm is to measure the ranges of motion in joints in sagittal, horizontal and frontal plane. It is clear, however, that these angles can hardly interpret the characteristics of the arm. The main idea in the article is to combine these angles with an adequate kinematic model in order to compute and graphically represent the reachable workspace of the arm, which then serves as an advanced criterion for a more objective evaluation. In this article, we report an improved kinematic model of the human arm which is appropriate for computing and visualizing the human arm reachable workspace. Optical measurements were performed to define the structure and parameters of the model and to develop the mathematical relations between the joint angles. The kinematic model was implemented in a computer programme which is now being introduced in practice and can be used in rehabilitation, ergonomics and sports.     

An open-loop control scheme for minimization of residual vibrations of a flexible robot

The aim of this study is to develop a practical control scheme, called the three-step input method, whereby a flexible robot arm is moved from one position to another with a minimum of residual vibration when the arm reaches its defined endpoint. This work is concerned with defining a simple practical method to utilize step inputs to achieve optimum response. The optimum response is achieved by using a self-adjusting input command function that is obtained during real-time processing. The practicality of this control scheme is demonstrated by using an analog computer to simulate a simple flexible robot and conventional servo controller. The experiments focus on point-to-point movement. Also, this method required little computational effort through the intelligent use of conventional servo control technology and the robot's vibration characteristics.     

RESEARCH ON VIBRATION CHARACTERISTICS OF THE MANIPULATOR END UNDER ACTIVE CONTROL OF ARM STIFFNESS$^{\bf 1)}$

机械臂在运动过程中会因臂杆柔性引发结构变形和弹性振动,降低机械臂末端的定位精度和运动稳定性,将结构振动控制方法用于机械臂的振动抑制研究具有重要意义. 基于变刚度主动控制的设计思想,提出了臂杆刚度主动控制方法,通过改变机械臂臂杆的轴向受力状况来主动改变机械臂的刚度. 采用变形耦合法描述了机械臂的非线性变形,进而结合假设模态法和拉格朗日方程建立了臂杆的变刚度动力学模型,并进行了数值仿真. 在此基础上,设计了基于臂杆刚度主动控制方法的单自由度实验台,分析了不同预紧力下机械臂末端的振动特性. 数值仿真和实验结果表明,随着预紧力的增加,机械臂末端的振动幅值得到衰减,验证了臂杆刚度主动控制方法的有效性. 通过采用响应面法建立了机械臂末端的振动响应与预紧力的关系,并基于内部映射牛顿法的子空间置信域法优化算法对预紧力进行了优化分析,得到了最优预紧力. 该研究可为机械臂的精细动力学建模和振动抑制提供一定的理论依据,并为研究经济型低刚度材料的刚化问题提供了方向,以利用廉价低刚度材料取代目前所应用的昂贵高刚度材料.     

残损航空器搬移拖车悬臂的拓扑优化

首先,采用导重准则法对在固定载荷下以位移为约束的拓扑优化问题进行计算,运用一种新的插值模型推导了在单工况作用下的最小质量拓扑优化迭代算法,并通过一个算例验证了该算法的可行性。然后,将该算法应用于残损航空器搬移拖车悬臂的拓扑优化设计中,将由此获得的悬臂的拓扑形貌与结构优化软件Optistruct得到的拓扑结果进行对比。结果表明,二者的迭代速度差别不大,且导重准则法的优化效果更好。作为概念设计,所得的拓扑形貌为以后悬臂结构的优化设计提供了有效参考。     

In-situ swinging arm calibration for hot-film anemometers

A method of calibration for hot-film anemometers is presented. A swinging arm that moves under the influence of gravity serves as both a calibration mechanism and a probe support. The velocity of the probe is found by differentiating the angular position history of the arm and multiplying it with the arm length. Limitations on the quality of calibration data while the arm is accelerating are discussed. The hot film voltage output is then matched to the velocity to find the two constants in King's law. The calibration was tested by taking velocity profile measurements in a laminar boundary layer. The results of these compared well to the Blasius profile.     

DYNAMIC MODEL AND MECHANICAL ANALYSIS OF THE ROTATING ARM OF THE DEEP SEA MINING MECHANISM1)

深海采矿机构多关节转臂运动时受到海洋水动力作用,转臂驱动油缸力矩与变幅机构驱动力受到影响。分析了深海采矿机构转臂受水动力的影响,建立采矿转臂在调整采矿姿态时的动力学模型。基于采矿机构特定转臂尺寸实例,得出了关节驱动力矩与变幅机构油缸驱动力曲线,以及基于ADMAS模型关节驱动力矩曲线。通过对采矿转臂进行动力学数值求解与仿真分析,验证其动力学方程的正确性。     

A Dynamic Systems Approach to Understanding Reaching Movements with a Prosthetic Arm

A case study was conducted on an experienced upper extremity prosthetic user that required him to perform a reaching and grasping task with both his prosthetic and normal anatomical hand. We used a scanning task (Wallace, Stevenson, Spear, & Weeks, 1994; Button, Bennett, & Davids, 1998) that required the participant to perform a wide range of coordination patterns defined by the relative phasing between the aperture of the fingers (or artificial prehensor) and the arm. Visual templates of the required finger trajectories in the various required phase conditions served as environmental information for the subject to follow. Based on previous work, we hypothesized that the participant would exhibit at least one stable reaching and grasping pattern in both his anatomical and prosthetic arm. In support of this hypothesis, the results showed a negative sloping relationship between the required relative phase and the mean delta relative phase (required relative phase minus the actual relative phase). The smallest delta relative phase occurred at approximately 80° and 115° relative phase for the anatomical and prosthetic arm, respectively during the scanning task. These results confirm our previous work of the presence of only one attractor in reaching and grasping movements using either the anatomical or prosthetic arm.     

Optimal control and analysis of stabilometric tests with step disturbances of human sensory systems

Several optimal control problems are considered for a human motion model in the case of stabilometric tests when the posture of a person changes under a step disturbance. Such a situation is observed in the case of a galvanic vestibular stimulation or a vibration stimulation of the proprioceptors of shin muscles. Stabilometric tests with visual step disturbance are widespread in Russia. A characteristic feature of center of pressure (COP) trajectories for these tests is the presence of swings and overshoots. The test results are compared with the solutions of optimal control problems devoted to the repositioning of an inverted pendulum by a coupling torque. A speed-of-response problem and an optimal stabilization problem with a quadratic quality criterion are considered. The solutions to these optimum problems are compared with the results of stabilometric tests, which allows one to state a hypothesis on the sources of the above effects.     

On the steady solitary-wave solution of the Green–Naghdi equations of different levels

The steady-state solitary wave solution of high-level Green–Naghdi (GN) equations is obtained by use of the Newton–Raphson method. Four aspects of solitary waves are studied: the wave speed, wave profile, velocity field and particle trajectory. A convergence study is performed for each individual case. Results of the converged model are compared with the existing laboratory experiments and other theoretical solutions for an inviscid and incompressible fluid, including the solutions of the Euler equations. Particle trajectories, predicted by the GN model, show close agreement with the laboratory measurements and provide a new approach to understanding the movement of the particles under a solitary wave. It is further shown that high-level GN equations can predict the solitary wave of the highest height.     

带可控臂绳系卫星释放及姿态控制

考虑带可控机械臂绳系卫星的面内运动, 研究其释放阶段的子星位置和姿态控制问题. 系绳释放时, 通过调整机械臂转角实现子星姿态的无动量轮控制. 控制律设计分为两步: 首先, 基于非线性最优控制理论, 研究在状态和控制约束下的子星位置及其姿态控制, 通过二阶Legendre伪谱法求解开环最优控制律; 其次, 以开环解为参考, 基于轨迹跟踪思想设计反馈控制器, 其中反馈控制增益由开环最优控制算法及数值插值确定. 最后通过算例研究验证了该方法的有效性.