机器人

In view of the key problem of subminiature underwater robots, structural improving,control algorithm and underwater experiment is studied. They can be described as follow: Firstly, the subminiature underwater robot should be compact in size and low cost, for which, it is difficult for us to control its balance. So that, a new kind of piston--style ups and downs system was invented, which can keep the underwater robot horizontally suspended in the water without driving force.

中文摘要本文针对超小型水下机器人在运动中存在的问题，设计了一种新的超小型水下机器人的沉浮结构形式，着重研究了其运动学动力学性能、探讨了相应控制算法、进行了水下试验，具体研究内容如下：首先，超小型水下机器人由于体积小重量轻，在水中沉浮时悬停平衡控制困难，为此进行了一种新的活塞式沉浮系统设计，该系统使水下机器人能够在无动力驱动的情况下，使其呈水平状态稳定悬浮在水中。

Therefore, as I learn widely about ground robots, underground robots and group robots, I will be supervised capably on my area of infrastructure-free mobile robots.

因此，我学习了广泛的地面机器人，地下机器人，机器人组，我会监督得力，我区的基础设施，自由移动的机器人。

Therefore, as I learn widely about ground robots, underground robots and group robots, I will be supervised capably on my area of infrastructure-free mobile robots

因此，我学习了广泛的地面机器人，地下机器人，机器人组，我会监督得力于我国基础设施领域进行自由移动机器人

This paper focuses on designing the intelligent robot of circumambulate by studying the ZiGuang fundamental platform of robot development、Freescale MC9S08GB60 MCU and the intelligent robot of circumambulate. The robot chooses the sensor as the carrier of identify of the path and judge the circuitry by sensor.

本文通过学习紫光智能机器人软件开发平台和机器人主控芯片Freescale 的MC9S08GB60 MCU，以及巡线机器人的基础知识，选择灰度传感器作为路径识别载体，并利用灰度传感器进行线路判别实现机器人的按轨迹自动前进。

First,a maximal encasing box and relative velocity between obstacles and the robot are used to analyze the orientation of collision.

通过分析障碍物最大包围盒在机器人坐标系的位置以及其相对于机器人的速度，得到障碍物与机器人可能发生碰撞的方位，然后使用基于速度改变最小原则和速度改变最佳原则的第一和第二避障策略来完成机器人的动态避障。

Research on controlled system of apple picking robot arm;2. Main application domains are introduced which include milking, vegetable engrafting, young plant transplanting, fruit and vegetable picking , irrigating, fertilizing, crop\|dusting and unkniting ground in greenhouses and outside fields.

讨论了农业机器人的基本特征，介绍了农业机器人的主要应用领域，包括农业机器人在挤牛奶、蔬菜嫁接、苗木株苗移栽、果蔬的自动采摘、温室内和野外的灌溉、施肥及喷洒农药和野外平整土地等方面的应用，最后总结了农业机器人所涉及的部分关键技术。

To start immediately to implement this plan, made large quantities of high performances the absolutely counter-attack robot, by "tited for fat" the way eliminates these the fellows who mutinied on the Moon, stemming from this time Earth humanity regarding kind of person robot specialSensitive, this has no recourse the plan is in the situation which keeps secret extremely is formulating the implementation, besides David and the entire unification, the third person had not known.

就在病床上，大卫博士忍着余下的伤痛忧思难眠，辗转往复思来想去，最后终于想出了一个以机器人对付机器人的绝妙方案，当灵感突然显现之后，大卫博士就立刻写成了一份详细的计划报告，然后火速转交给联盟主席全统一，全统一长官看完后，不禁拍案叫绝，并马上授权大卫博士开始实施这项计划，制造大批高性能的绝对反击机器人，以&以牙还牙&的方式清除那些在月球上哗变的家伙们，出于此时地球人类对于类人机器人的特殊敏感，这个迫不得已的方案是在极为保密的情况下制定实施的，除了大卫和全统一之外，没有第三个人知道。

Kinematics and dynamics modeling and analyzing method of a 3-RRRT parallel robot was studied. Kinematic model of the 3-RRRT parallel robot was set up with both the branch bar's relative coordinates and movable platform's absolute coordinates used as it's generalized coordinates. On the base of Kane's equation, dynamics model of the 3-RRRT parallel robot was built. Dynamic Numerical simulation of the 3-RRRT parallel robot was finished by using Matlab software, and so it provides valuable reference for motion control strategy of the 3-RRRT parallel robot.

研究一种3-RRRT新型高速搬运机器人运动学与动力学建模及分析方法，以支链构件相对运动坐标和动平台绝对运动坐标作为广义坐标，建立了3-RRRT型并联机器人的运动学模型，结合带乘子的凯恩方程建立了3-RRRT型并联机器人的动力学模型，并利用Matlab软件平台进行了动力学数值仿真，进而为3-RRRT型并联机器人的控制策略研究提供参考。

Foreign robot for hydraulic turbine repair could not satisfy our working require, so we develop special-purpose robot system that is used to polish and weld repair cavitated flow path surfaces of hydraulic turbines on all locations.

国外水电站的水轮机汽蚀是在清水条件下产生的，其破坏程度远不及我国黄河等水域严重，用于我国水轮机修复工作的专用机器人，特别是补焊后承担打磨的机器人，要求有更强的刚度和更大的灵活性，国外水轮机修复机器人满足不了我国水轮机修复工作要求，因此我们开发了用于在机坑内对水轮机空蚀磨损破坏表面进行修复的&水轮机修复专用机器人&。

The robot saves motion time and its move speed is higher than that of general crawling inside pipe line robots This thesis analyzes the pass ability of robots in bent tube and three-limb tube. and give the maximum volume of cylinders and cuboids.

本文分析了机器人在弯管和三通管内的通过能力，给出了圆柱体和长方体在三通管内转弯时的最大体积，当机器人的长度确定以后，可以计算出允许通过三通管的机器人最大截面尺寸，为可以通过三通管的机器人设计打下了基础。

Do you know, i need you to come back

你知道吗，我需要你回来

Yang yinshu、Wang xiangsheng、Li decang,The first discovery of haemaphysalis conicinna.

1〕 杨银书，王祥生，李德昌。安徽省首次发现嗜群血蜱。