Rehabilitation instruments are effective tools for patients to recover from disability. However, we still do not have a rehabilitation instrument which could provide combined movement with arms and legs. Rehabilitatio...Rehabilitation instruments are effective tools for patients to recover from disability. However, we still do not have a rehabilitation instrument which could provide combined movement with arms and legs. Rehabilitation with combined movement of arms and legs is completely a new method. In order to check the effect of this new rehabilitation method and to provide patients with more efficient rehabilitation instrument, we design a new rehabilitation robot. This robot lets patients practice when they lie down and stand up. This article explains the design of this instrument clearly. Using Unigraphics NX software to build 3D model, we have a complete design of this rehabilitation robot.展开更多
In order to improve the travelling ability of the wheel-type pipeline robot in elbow section of pipeline, the model of drive ratios is proposed aiming at the pipeline robots with different configurations. Through the ...In order to improve the travelling ability of the wheel-type pipeline robot in elbow section of pipeline, the model of drive ratios is proposed aiming at the pipeline robots with different configurations. Through the movement analysis of the robot with different configurations in elbow section, the pose model of the robot is established, and the coordinates of the wheel centers and the contact points can be got through the calculation of the pose model. Based on the pose model established, the corresponding drive ratios are obtained combining with the relations of the velocities of wheel centers and rotative velocities of wheels under the movement condition with no interference. The virtual simulations and prototype experiments are carried out, and the drive ratios accuracy of the model when the robot moved in elbow without interference is validated.展开更多
To date, many studies related to robots have been performed around the world. Many of these studies have assumed operation at locations where entry is difficult, such as disaster sites, and have focused on various ter...To date, many studies related to robots have been performed around the world. Many of these studies have assumed operation at locations where entry is difficult, such as disaster sites, and have focused on various terrestrial robots, such as snake-like, humanoid, spider-type, and wheeled units. Another area of active research in recent years has been aerial robots with small helicopters for operation indoors and outdoors. However,less research has been performed on robots that operate both on the ground and in the air. Accordingly, in this paper, we propose a hybrid aerial/terrestrial robot system. The proposed robot system was developed by equipping a quadcopter with a mechanism for ground movement. It does not use power dedicated to ground movement, and instead uses the flight mechanism of the quadcopter to achieve ground movement as well. Furthermore, we addressed the issue of obstacle avoidance as part of studies on autonomous control. Thus, we found that autonomous control of ground movement and flight was possible for the hybrid aerial/terrestrial robot system, as was autonomous obstacle avoidance by flight when an obstacle appeared during ground movement.展开更多
How to solve the coupling relations in a 6 - DOF parallel robot quickly and accurately within the limits of realtime control is a critical problem. In traditional analytic method, the complicated mathemtical model mus...How to solve the coupling relations in a 6 - DOF parallel robot quickly and accurately within the limits of realtime control is a critical problem. In traditional analytic method, the complicated mathemtical model must first be constructed and then solved by programming.Obviously, this method is not very practical. This paper,therefore, proposes a new way of approach with a new method using 3- D animation for the solving of coupling relations in the 6 - DOF parallel robot. This method is much simpler and its solving accuracy approaches that of the more complicated analytic method.展开更多
轮式机器人目前已经在多个领域得到了应用,但机器人在轨迹跟踪控制中存在数据参数分析和轨迹跟踪控制效果不佳的问题。为了提升机器人移动过程中的轨迹跟踪控制效果,采用差分进化(Differential Evolution,DE)对灰狼优化(Grey Wolf Optim...轮式机器人目前已经在多个领域得到了应用,但机器人在轨迹跟踪控制中存在数据参数分析和轨迹跟踪控制效果不佳的问题。为了提升机器人移动过程中的轨迹跟踪控制效果,采用差分进化(Differential Evolution,DE)对灰狼优化(Grey Wolf Optimizer,GWO)算法进行改进,通过改进收敛因子和交叉变异过程,提升了机器人控制效果。实验结果表明,改进算法在机器人控制中适配度最低值为0.04,比遗传算法的适配度降低了0.88。改进算法的比例值为10.8469,积分值为2.3548,微分值为0.0654。实际应用和测试结果表明该方法对机器人轨迹跟踪控制有较好的效果。展开更多
基金the National Natural Science Foundation of China(Nos.61190124,61190120,60873131)the National Natural Fund International Communication Project(No.61311140171)+4 种基金the National High Technology Research and Development Program(863) of China(No.2006AA01Z310)the National Science & Technology Pillar Program of China(No.2009BAI71B06)the Shanghai Science and Technology Committee Pillar Program(Nos.14441900800,14441900801 and 14DZ1941103)the Key Cross Project Between Medicine and Engineering of Shanghai Jiao Tong University(No.YJ2013ZD03)the Project of Disabled Assisted Equipment Resource Center of Shanghai(Upper Limb Rehabilitation Robot)
文摘Rehabilitation instruments are effective tools for patients to recover from disability. However, we still do not have a rehabilitation instrument which could provide combined movement with arms and legs. Rehabilitation with combined movement of arms and legs is completely a new method. In order to check the effect of this new rehabilitation method and to provide patients with more efficient rehabilitation instrument, we design a new rehabilitation robot. This robot lets patients practice when they lie down and stand up. This article explains the design of this instrument clearly. Using Unigraphics NX software to build 3D model, we have a complete design of this rehabilitation robot.
基金Supported by the High-Tech Research and Development Program of China (2006AA04Z236)the"111"Project(B07018)the Self-Planned Task of State Key Laboratory of Robotics and System (HIT) (SKLRS200802C)
文摘In order to improve the travelling ability of the wheel-type pipeline robot in elbow section of pipeline, the model of drive ratios is proposed aiming at the pipeline robots with different configurations. Through the movement analysis of the robot with different configurations in elbow section, the pose model of the robot is established, and the coordinates of the wheel centers and the contact points can be got through the calculation of the pose model. Based on the pose model established, the corresponding drive ratios are obtained combining with the relations of the velocities of wheel centers and rotative velocities of wheels under the movement condition with no interference. The virtual simulations and prototype experiments are carried out, and the drive ratios accuracy of the model when the robot moved in elbow without interference is validated.
文摘To date, many studies related to robots have been performed around the world. Many of these studies have assumed operation at locations where entry is difficult, such as disaster sites, and have focused on various terrestrial robots, such as snake-like, humanoid, spider-type, and wheeled units. Another area of active research in recent years has been aerial robots with small helicopters for operation indoors and outdoors. However,less research has been performed on robots that operate both on the ground and in the air. Accordingly, in this paper, we propose a hybrid aerial/terrestrial robot system. The proposed robot system was developed by equipping a quadcopter with a mechanism for ground movement. It does not use power dedicated to ground movement, and instead uses the flight mechanism of the quadcopter to achieve ground movement as well. Furthermore, we addressed the issue of obstacle avoidance as part of studies on autonomous control. Thus, we found that autonomous control of ground movement and flight was possible for the hybrid aerial/terrestrial robot system, as was autonomous obstacle avoidance by flight when an obstacle appeared during ground movement.
文摘How to solve the coupling relations in a 6 - DOF parallel robot quickly and accurately within the limits of realtime control is a critical problem. In traditional analytic method, the complicated mathemtical model must first be constructed and then solved by programming.Obviously, this method is not very practical. This paper,therefore, proposes a new way of approach with a new method using 3- D animation for the solving of coupling relations in the 6 - DOF parallel robot. This method is much simpler and its solving accuracy approaches that of the more complicated analytic method.
文摘轮式机器人目前已经在多个领域得到了应用,但机器人在轨迹跟踪控制中存在数据参数分析和轨迹跟踪控制效果不佳的问题。为了提升机器人移动过程中的轨迹跟踪控制效果,采用差分进化(Differential Evolution,DE)对灰狼优化(Grey Wolf Optimizer,GWO)算法进行改进,通过改进收敛因子和交叉变异过程,提升了机器人控制效果。实验结果表明,改进算法在机器人控制中适配度最低值为0.04,比遗传算法的适配度降低了0.88。改进算法的比例值为10.8469,积分值为2.3548,微分值为0.0654。实际应用和测试结果表明该方法对机器人轨迹跟踪控制有较好的效果。
