空间机器人

The system can display in 3D the robots with higher quality graphics on PC by adopting the solid model technology, and modify the model of robots according to the size given by users, so that the parametric modeling is realized under interactive mode. It realizes the graphics simulation of robots in kinematics in both articulatory space and Cartesian space, and it also realizes the animated simulation of trajectory of linear interpolation in point-to-point mode.

该系统采用实体造型，能在微机上显示较高质量的机器人的三维图形，可以按照用户给出的尺寸修改模型，在交互方式下，实现机器人的参数化造型；系统能够在关节空间和笛卡尔空间中进行运动学的图形仿真，能进行点到点直线插补轨迹的动画显示，机器人的动作可以示教再现，也可以由程序设定。

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。

Firstly, several kinds of schemes were proposed according to the design demand. The best scheme was chosen after analyzing and comparing the schemes. The robot's structure was designed with Pro/Engineer and AutoCAD software. Secondly, the kinematics analysis conducted, coordinate transformation matrix using D-H method was set up, and the kinematics equation direct solution and inverse solution was deduced. The manipulative interface about the kinematics equation direct solution and inverse solution was completed with VC++ and the velocity Jacobian of displacement matrix was constructed using differential transform method. In the process of the trajectory planning based on robot's kinematics analysis, I propone a method by which we can get middle nodal point with normalizing factor in order to simplify our searching for these middle nodal points. In addition, I give these middle nodal points with actual physics signification. For eliminating contradiction between real-time and accuracy, I bring forward separately limit of error and reversal interpolation method. For decreasing calculation quantity, we resort to tri-spline interpolation in the articulation space.We analyse the work range of the robot by resorting to graphic means.

首先，作者针对机器人的设计要求提出了多个方案，对其进行分析比较后，选择其中最优的方案后用Pro/Engineer和AutoCAD软件进行了机器人模型结构设计；其次，进行了运动学分析，用D-H方法建立了坐标变换矩阵，推算了运动方程的正、逆解，运用VC++制作了正、逆运动学求解的求解界面；并且用微分变换法推导了速度雅可比矩阵；在基于机器人的运动学的轨迹规划中，通过在操作空间的规划，提出了归一化因子来求解中间结点，通过它可以使求解中间结点变得更简单，并且赋予这些中间结点实际的物理含义，对于规划中精确性和实时性的矛盾，提出了以误差极限法和反向插值法来解决的方法；为了减少规划过程中计算量，在关节空间进行三次样条插值；然后借助图解法进行工作空间分析，作出了实际工作空间的轴剖图。

ABSTRACT In this dissertation, fault-tolerance of redundant manipulators is thoroughly investigated. First, inherent relationship between the dexterity and fault-tolerance of single-redundancy manipulator is discussed. Both the manipulability and the relative manipulability are utilized for measuring the kinematic fault-tolerance of the manipulator with one joint failure. Furthermore, the relative manipulability is used for measuring dexterity loss resulted by one joint failure, and the relationship between the fault-tolerance measurement and null space vector of Jacobian matrix is established.

本文对冗余自由度机器人的答错性问题进行了深入的分析和迭付：首先研究了单冗余度机器人运动学灵活性与容错性之间的内在关系，提出以故障构形的可操作度和相对可操作度来度量机器人的运动学容错性，用相对可操作度来度量关节故障给机器人操作灵巧性造成的损失，并建立了容错性度量指标与Jacobian矩阵零空间向量之间的关系。

The underactuated free floating robot in space is nonlinear systems where velocity and acceleration constraints are both nonintegrable,therefore it is a second order nonholonomic system.

含有未驱动关节的自由漂浮空间机器人具有不可积分的速度和加速度约束，因而是一个二阶非完整系统。

Grippers are key execution parts in space robots, which should provide reliable grasping function under space environment.

手爪是空间机器人的关键执行部件，既要求能够实现可靠抓取，又要能够在太空环境下作业。

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。

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。

Using the innovative design method based on mechanism combination, taken four-wheeled, six-wheeled and eight-wheeled space-exploring robot as research object,we have got as many as sventy new kinds of isomorphic combination localmotion platforms and one hundred and sixty five new kinds of isomerous combination locomotion platforms.

以四轮、六轮和八轮空间探测机器人为研究对象，采用基于构形组合的空间探测机器人设计方法，得到70种新型同构组合空间探测机器人移动机构和165种新型异构组合空间探测机器人移动机构。

Furthermore, according to the features of space robot control, the fixed time-lag mechanism is introduced to simplify the control algorithmic.

同时根据空间机器人的具体情况，提出了固定视觉反馈时滞的方法，对系统进行了简化。

The split between the two groups can hardly be papered over.

这两个团体间的分歧难以掩饰。

This approach not only encourages a greater number of responses, but minimizes the likelihood of stale groupthink.

这种做法不仅鼓励了更多的反应，而且减少跟风的可能性。