机器人

In the base of summarizing the study status on the climbing robot inside and outside, the main structure of the climbing robot with pedrails is designed, and the designing calculations of key partments are carried on..

本文在详述国内外爬壁机器人研究现状的基础上，对履带式爬壁机器人的本体结构进行了设计，对一些关键部分进行了设计计算。

The metamorphic and mobile robot with eight joints and twelve degrees is symmetry mechanism and a pedrail mechanics connects with the box through a arm. The motions of pedrails, arms and the robot are controlled respectively by twelve engines and the metamorphic and mobile robot can change motive postures through the various positions controlled of the pedrails and the arms.

变形移动机器人是一种对称结构，有8个关节，12个自由度，每个履带结构采用一个加长臂和主箱体相连，履带、加长臂和机器人的移动分别用单独的电机控制，通过控制加长臂和履带的不同位置可以变换各种运动姿态。

Also, an incline gauge of high precision is adopted to form the posture close-loop control system. With the PID algorithm, the robot has better capability to regulate the posture.

针对机器人姿态控制的要求，通过增加高精度的倾斜计，对机器人进行了姿态闭环控制；采用离散PID控制算法，保证了系统具有良好的姿态调节能力。

A: It means that a bottle without compressed air can be mounted on the machine, after the game starts; the electric power supply pre-mounted on the machine drives the motor of air compressor to build the air pressure into the bottle, then it can be used as a power source.

意思是指在比赛开始时，未充压缩空气的安在机器人身上的瓶子；提供给安在机器人上的空气压缩机的电动机，来把空气压缩进瓶子，这样才能被当作动力源使用。

One of the niftiest recent uses for robots has been for remote surgery, using a robot hand and a computer link to let surgeons thousands of miles away perform operations by proxy.

最近机器人运用得最为成功的例子是用于远程外科手术，外科医生在千里之外通过一个机器人手臂和与之连接的计算机进行手术操作。

The relationships between welding pool width, wire extension and welding parameters including welding current duty ratio, base current, peak current, welding speed and wire-feeding speed were studied. Through large numbers of welding experiments, aluminum alloy pulsed MIG welding dynamic process were identified by the curve fitting method, and the mathematical models between welding current duty ratio, base current, welding speed, wire-feeding speed and wire extension were obtained, succeeding the model between the above parameters and weld pool width.

介绍了铝合金MIG焊焊接电流占空比、基值电流、峰值电流、焊接速度、送丝速度对熔宽的影响规律，并在其基础上，通过平板堆焊试验研究了这些参数对焊接干伸长的影响规律；在铝合金机器人脉冲MIG焊平板堆焊过程各焊接参数与正面熔宽之间的传递函数的基础上，采用铝合金平板堆焊阶跃试验，利用曲线拟合法辨识了铝合金机器人脉冲MIG焊动态过程传递函数，建立了焊接电流占空比、基值电流、焊接速度、送丝速度与焊接干伸长之间的对象数学模型。

This paper reviews the control theories used for robot in details. The interative and nonlinear torques of the traditional robots at the joint axis are reduced by a factor of gear ratio. The complicated arm dynamics is approximated to a linear, time-invariant model. The robot can be controlled by using local, decoupled PID's controller at each joint.

本文对机器人控制理论进行了全面综述，指出对于常规机器人，由于减速机构的存在，其耦合力矩和非线性力矩被大大减弱，其动力学模型可近似为线性、定常、解耦模型，采用独立关节PID控制即可。

Study on stability of wall-climbing robot is the fundamental of robot design.

爬壁机器人稳定性分析是机器人设计的基础。

The study on wall-climbing robot in this paper builds a base for fulfill automatic moving and working.

本文对于爬壁机器人的研究，为进一步实现爬壁机器人的自主移动及自动工作提供了依据。

The underwater ship hull cleaning robot researched in this paper belongs to the wall-climbing robot and has wide application value.

本文研制的水下船体表面清刷机器人是水下移动机器人的一种类型，具有广阔的应用前景。

This one mode pays close attention to network credence foundation of the businessman very much.

这一模式非常关注商人的网络信用基础。

Cell morphology of bacterial ghost of Pasteurella multocida was observed by scanning electron microscopy and inactivation ratio was estimated by CFU analysi.

扫描电镜观察多杀性巴氏杆菌细菌幽灵和菌落形成单位评价遗传灭活率。