机器人的

Based on ABB s IRB140 mini industrial robot,this paper analyzed a 6 DOF multi-joint industrial robot in kinematics,established its kinematics model,proposed a specific simulation algorithm for robot work spaces describing,and generated a continuous work space map,which have significant referenced value in robot kinematics,barrier avoidance,computer control and robotics education.

文章以瑞典ABB公司生产的IRB140型小型工业机器人为例，对空间六自由度多关节机器人进行了运动学分析，建立了该类型机器人的运动学模型，提出了空间六自由度多关节机器人连续工作容积的仿真算法，并根据此算法生成了该机器人的连续工作容积图，这对机器人动力学、机器人避障、微机控制和机器人教学等方面的研究有重要的参考价值。

As one part of the project, the dissertation is developed with thelocalization problem in mobile robot navigation. Combined with "MobileRobot 1 of Central South university (MORCS-1)", a mobile robot designed byus that equipped with a 2D laser measurement system to sense the environmentand the proprioceptive sensors such as the odometry, gyroscope to calculate itsdead reckoning, the approach about the four kind uncertainty factors of mobilerobot localization is studied. These researches include that the error analysisand calibration of position sensors is implemented to reduce the measurementnoise, the 3D kinematic model of mobile robot is built to gain the accuratepose in complex terrain, some work on the automatic detection of static ordynamic obstacles based on laser scanner is investigated to eliminate thedynamic influence of the environment and to realize the reliably absoluteposition, and lastly a robust algorithm is presented to involve the incrementalenvironment mapping and self-localization of mobile robot with unknown dataassociation and to improve the self-localization performance of mobile robotunder unknown environment.

作为该项目研究的一部分，本论文以移动机器人导航中的定位问题为研究内容，利用自行研制的装配有二维激光雷达环境感知系统，并通过里程计、陀螺仪等内部传感器来实现航迹推测的移动机器人"中南移动1号MORCS-1"，重点围绕影响移动机器人系统定位的四类不确定性处理展开研究：通过移动机器人定位传感器的误差分析及校准，旨在消除传感器噪声所带来的测量误差；通过建立移动机器人的三维运动学模型进行航迹推测，以期实现复杂地形下精确的移动机器人本体姿态感受；通过基于激光雷达的动静态障碍的自主检测等相关研究，尽量消除环境的不确定因素影响进而实现可靠的移动机器人绝对定位；通过以上研究，针对未知数据关联下移动机器人增量式环境建图与自定位的研究提出一种鲁棒的滤波算法，改善未知环境中移动机器人自定位的性能。

A novel cable climbing robot applied to cable maintenance was introduced. It is centered orientable wheel-based, omni-directional cable climbing robot. The climbing mechanism of the robot and its working process were described. The driving force needed was analyzed, and the critical force needed for maintaining robot staying cable was calculated. The eccentricity allowed between center of robot and cable axis when the robot moving on inclined cable was discussed, and the least eccentric magnitude was calculated.

提出了一种应用于缆索维护的爬缆机器人机构实现方案，该机器人采用中心可转向的轮式驱动；介绍了机构组成及工作原理，在建立缆索曲线约束模型的基础上分析了机器人的驱动力，计算出了机器人能够在斜缆上工作所需要的临界驱动力；讨论了机器人在斜缆上工作时机器人轴和缆索轴不重合而出现偏心的原因，提出了减小偏心的方法，并计算出了为保持机器人对斜缆的适应性所需要的最小偏心量。

It is a innovation in concept and construction of mobile robot. 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.

变形移动机器人的概念，是山东科技大学机器人研究中心在成功地完成了国家863项目"喷浆机器人"和国家自然科学基金"四周履带式蛇形机器人"的研究的基础上提出的，是一种对"移动机器人"的概念创新和结构创新。

The dissertation systematically analyses RV-M1 robot which is used in this study, thoroughly dissects the hardware and software of RV-M1 robot's controller, upbuilds RV-M1 robot's model and coordinate system, develops the robot's forward kinematics formulation, solves the robot's kinematics negative problem, develops RV-M1 robot's dynamic formulation in Lagrange-Euler form, does linearization about robot's dynamics model, and gets this robot's sign solution In order to solve practical problem in the process of robot automatic polishing, this dissertation makes some beneficial researches and trials.

本文比较系统地分析了本论文研究中采用的RV—M1型机器人，较为详细地剖析了RV—M1型机器人系统的控制器硬件、软件，建立了RV—M1型机器人模型及其坐标系，推导出了该机器人的正向运动学方程，并对机器人的运动学逆问题进行了求解；推导了RV—M1型机器人的Lagrange—Euler形式的动力学方程，对机器人的动力学模型做了线性化，给出了该机器人的符号解。

Products include mobile gantry robot automatic spraying machine, electric spraying robot, flexible profiling automatic spraying machine, reciprocating spray machines, automatic coating robots, robot frame, handling robots, welding robot.

机器人产品包括移动龙门式自动喷涂机，电动喷涂机器人，柔性仿形自动喷涂机，往复式喷涂机，自动涂胶机器人，框架式机器人，搬运机器人，弧焊机器人的研制。

The main work of this paper: Firstly, Basing on the summarization and analysis of the walking mechanism, Parallel drive five-bar mechanism is applied for walking mechanism. And then the characteristic of the trail and positive kinematics as well as reverse kinematics are discussed. Secondly, the model of walking mechanism is established according to Parallel drive five-bar mechanism, and then a figure planning is designed for the foot-end trail. The characteristics of the parallel drive are emphasized to research in this paragraph by the method of insert value. At last, the simulation is performed in the ADAMS to compare the real result to the theoretical value. Thirdly, a sealed structure of a Quadruped Walking Robot is designed and established. The whole control system, including motor, sensor and control circuit, is sealed in the robot. Walking is derived in the way of the shaft driving and the dynamic torque sensor is used to the surrounding conditions of the robot's foot-end to be the foundation of the robot's control. At last, the applying principle of the dynamic torque sensor is researched in detail basing on the traditional sensor of the walking robot. Moreover, the principle is divided into several sorts to discuss. Finally, simulation and verification of the monitor principle are come through in the Mechanism of the Pro/Engineer.

论文的主要工作有：在对传统步行机构总结分析的基础上，提出将平面并联五杆机构应用于四足步行机器人的腿部结构，并对其轨迹特性、正运动学、逆运动学特性做了详细计算分析；依据平面并联五杆机构的模型，建立机器人步行机构的实体模型，对其足端的轨迹做了图谱规划，并利用插值法对并联驱动端的特性曲线作了研究，并在ADAMS中进行仿真，将结果与理论值相比较；然后设计了一套四足步行机器人密封装配结构设计方案，建立四足步行机器人单足结构、驱动以及传感器监测的三维实体模型，将机器人的整个控制系统，密封装配在步行机器人的机体中，通过轴传动来驱动步行机构实现步行，采用动态扭矩传感器监测步行机构的驱动关节受到的扭矩变化，从而获得四足步行机器人足端的周围情况，为步行机器人的控制方案奠定了基础；论文的最后在分析步行机器人传统控制传感器的基础上，详细分析了动态扭矩传感器的监测原理，并分几种情况分别分析了其监测原理，并在Pro/E的Mechanism模块中实现了监测原理的仿真与验证，最后给出了传感器监测信息与系统判断之间的关系。

In this paper RoboCup Mid-size Robot are the object of study from the two sides of the robot system and the system of multi-robot cooperation, the main research results are as follows: First, this paper reasearches the problom of the hardware and software architecture of Mid-size robots. According to the real-time requirements of the competition, the paper designs the mechanism of omni-direction wheels, which achieves a great improvement on the traditional mechanism of two wheels robot, and a more flexible response. This mechanism can adapt well to the increasingly rapid pace of the competition. In allusion to the mechanism of omni-direction wheels, this paper designs the electrical control system of three nodes in the bottom, which could communicate fast to the laptop with serial port and match the real-time requirements well. According to the problom of hitting power and speed of robot when shooting, this paper designes a motor-driven tongue-shaped spring shooting mechanism, which has a simple mechanical structure, smaller space in size and simple control circuit. This shooting mechanism meets the real-time requirements of the competition better.

本文以RoboCup中型机器人作为研究对象，分别从机器人自身系统和多机器人协作系统两个方面进行了研究，主要研究成果如下：首先，研究了中型机器人的软硬件体系结构问题，针对实时比赛的要求，提出了万向轮机构的设计方案，大大改进了传统两轮机器人结构，动作反应更加灵活，该机构能够很好的适应节奏越来越快的比赛；针对万向轮机构，设计了3节点的底层电机控制系统，它可以通过串口与上层笔记本电脑快速通讯，能够很好的实现实时工作要求；针对机器人射门时击球力量和速度的问题，设计了一套电机驱动的舌形弹簧射门机构，机械结构简单，占用空间体积小，控制电路简单，较好的满足了比赛中实时射门的要求。

Based on the instantaneous motion of the moving platforms, the uncertainty configuration conditions and simplified uncertainty configuration equations are obtained for the widely studied parallel manipulators, such as planar 3-DOF parallel manipulator, spherical 3-DOF parallel manipulator, 6-SPS triangular platform parallel manipulator, three-branch 6-DOF parallel manipulator, twotriangular-platform parallel manipulator, DELTA parallel manipulator, 5-DOF parallel manipulator, two-tetragonal-platform parallel manipulator, pentagonal platform parallel manipulator and Stewart platform parallel manipulator.

采用这一方法，根据国内外常用的并联机器人机构的形式，建立了平面3自由度并联机器人、球面3自由度并联机器人、三角平台并联机器人、三支链6自由度并联机器人、双三角平台并联机器人、DELTA并联机器人、5自由度并联机器人、双四角平台并联机器人、五角平台并联机器人和Stewart平台并联机器人的奇异位形条件方程，除了Stewart平台并联机器人外，这些条件方程均为低于6阶的行列式，机器人结构类型不同，其简化程度各不相同。

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。

Neither the killing of Mr Zarqawi nor any breakthrough on the political front will stop the insurgency and the fratricidal murders in their tracks.

在对危险的南部地区访问时，他斥责什叶派民兵领导人对中央集权的挑衅行为。

In fact,I've got him on the satellite mobile right now.

实际上 我们已接通卫星可视电话了