机器人

But the vague idea of robots in our heads was cooler than the "reality" had ever been, when we started to draw them, or even look at the pop culture history of robots, the only robot that was really interesting to look at was the robot from [Frits Lang's seminal 1926 futuristic film] Metropolis.

但是当我们开始把这些画成图画时，我们脑子里的机器人这个模糊概念就变成比现实生活中的机器人更有意思了。当我们回顾关于机器人的故事时，唯一真值得一看的机器人是1926年由福利斯。兰果的科幻片'大都会'。

Some very useful results on the mechatronic design of two-wheeled soccer robot and dynamic constrains are gained from dynamic analysis,which is fundaments of high level soccer robot .

通过对双轮驱动足球机器人动态性能的分析，推导出双轮驱动足球机器人动力学性能约束的条件以及影响足球机器人车体设计的各种因素，得出一些对双轮驱动足球机器人车体设计具有重要指导意义的结论。

The robot moves along a line under the circumstance that it aims at the goal in a small angle and there is no obstacle just before it. Otherwise, it moves toward the best subgoal along a round curve.

若机器人航向在一个规定的小角度范围内对准目标且机器人正前方无障碍物，机器人作直线运动；其他情况下，机器人以圆弧接近最佳亚目标。

The pedrails moving system are chosen as the moving mechanical of the climbing robot for pressure vessel.

本文设计的压力容器检测爬壁机器人采用履带式移动机构，双履带构成爬壁机器人的基本框架；采用永磁吸附方式，将永磁片贴在履带的外表面，可提供足够大的吸附力，结构简单；采用前轮驱动，两个驱动轮分别由电机驱动，当两电动机转速一致时，机器人沿直线行走，当两电动机差速时，可实现爬壁机器人整体转弯。

Magnet, which can offer adsorbability enough to keep the robot working on the vertical walls, is kept close to the outside surface of the pedrails. Front-wheel driving is adopted as the driving system and the two front-wheel are drived by two elctromotors, respectively. When the two motors are running with the same direction, the robot walks straightly. When the two motors are running with the contrary velocity, the robot can swerve.

本文设计的压力容器检测爬壁机器人采用履带式移动机构，双履带构成爬壁机器人的基本框架；采用永磁吸附方式，将永磁片贴在履带的外表面，可提供足够大的吸附力，结构简单；采用前轮驱动，两个驱动轮分别由电机驱动，当两电动机转速一致时，机器人沿直线行走，当两电动机差速时，可实现爬壁机器人整体转弯。

The first one is Vector Pursuit which is based on Screw Theory. The second one is Replicate Line Method presented by this thesis which is presented according to the skid-steering property of track-laying mobile robot and the constraint of its working environment. Thirdly, use the path tracking method proposed by Kanayama for reference to control the robot moving for the current position to the desired position with the desired velocity, so make the path tracking process more precise.

然后从运动学方面，根据机器人当前位置与目标点的位置偏差和角度偏差，采用基于螺旋理论的向量追击法，以及本文根据履带式移动机器人运动特点和工作环境特点提出了的轨迹跟踪方法，折线法，来确定机器人的期望运动；再借鉴Kanayama提出的轨迹跟踪控制方法，对机器人以期望运动速度从当前位置运动到目标点的过程进行控制，从而进一步精确了跟踪过程。

In this thesis, an attempt at considering the flexible joint as non-linear torsion spring has been made.

首先，建立了刚性杆非线性关节机器人的动力学模型，之后通过一平面3R机器人进行了数值仿真，说明了在一定情况下，关节的非线性对刚性杆机器人关节变形和末端误差具有重要影响，并在此基础上，讨论了关节线性项、杆的集中质量和关节驱动加速度对机器人关节非线性特性的影响。

The crawler and swing arm both are driven by DC servo motor directly, the complex driving devices are eliminated, swing arm drive DC servo motor is installed in the interior of driven wheel and swing arm wheel; it ensures robot has high maneuverability and strong over-obstacle capability, at the same time it overcomes the disadvantages of traditional drive and transmission system, such as a lot of elements, complex structure and low efficiency, it reduces energy consumption, saves interior space, reduces overall weight, increases the work reliability and running stability of robot and provides new design programs and new technology channels for small-sized crawler ground movable robot drive device.

机器人的履带和摆臂均由直流伺服电机直接驱动，省去了复杂的传动机构，摆臂驱动直流伺服电机则安装在从动轮和摆臂轮内部，在保证机器人具有高机动性和强越障力的同时，克服了传统驱动、传动系统零件众多、结构复杂、效率低下的缺点，降低了系统能耗，节省了内部空间，减轻了整体重量，提高了机器人的工作可靠性和行驶稳定性，为小型履带式地面移动机器人驱动装置提供了新的设计方案和新的技术途径。

A six-wheeled space exploration robot with active configuration function is proposed.

建立了轮式星体探测机器人的抗倾覆性评价模型，对六轮摇臂星体探测机器人和双曲柄滑块探测机器人的抗倾覆性进行分析和比较，提出一种提高自适应悬架机器人移动性能的措施和方法，实现了一种可主动配置的六轮摇臂星体探测机器人。

The simulation results show that the driving placidity, terrain-adaptability, steering sensitivity of the two-crank-slider lunar rover is better than that of six-wheel- rocker-bogie lunar rover, the over-obstacle ability is equal to and the untipover stability is inferior to that of six-wheel- rocker-bogie lunar rover.

仿真结果显示：双曲柄滑块探测机器人的平顺性、地面适应性、转向灵敏度优于六轮摇臂探测机器人，越障性能与六轮摇臂探测机器人相当，抗倾覆性不如六轮摇臂探测机器人。

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。