We describe an Intelligent Precision Jigging Robot (IPJR), which allows high precision assembly of commodity parts with low-precision bonding. We present preliminary experiments in 2D that are motivated by the problem of assembling a space telescope optical bench on orbit using inexpensive, stock hardware and low-precision welding. An IPJR is a robot that acts as the precise "jigging", holding parts of a local assembly site in place while an external low precision assembly agent cuts and welds members. The prototype presented in this paper allows an assembly agent (in this case, a human using only low precision tools), to assemble a 2D truss made of wooden dowels to a precision on the order of millimeters over a span on the order of meters. We report the challenges of designing the IPJR hardware and software, analyze the error in assembly, document the test results over several experiments including a large-scale ring structure, and describe future work to implement the IPJR in 3D and with micron precision.

关键词：机器人;桁架;夹具;航天制造业;机器人控制

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In order to significantly improve the load capacity of the soldiers and the maneuverability as carrying heavy loads,the mechanism design and simulation of the wearable exoskeleton robot are studied in this paper.Firstly,the mechanism design of the exoskeleton robot is completed and the three-dimensional model of the exoskeleton robot is established.Then,the five-link mathematical model of the exoskeleton robot is established,the dynamics analysis of which is proceed.Finally,through using virtual prototype technology,the walking simulation of the robot is carried out and the results provide a basis for the future work.

关键词：外骨骼机器人；机构设计；五连杆模型；虚拟样机技术

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The increasing desire to remove Soldiers from high-risk situations such as reconnaissance and maintenance of buildings and infrastructure has spawned the idea of wall-climbing robots. Such robots use techniques ranging from magnets to bio-mimicry in order to climb vertical and inverted surfaces. The focus of this project is to run a comparison analysis of different vortex adhesion base plates, which would result in an improvement on the fundamental design of a robotic wall climber. This study includes initial experimentation of inverted wing inspired base plates created to increase the adhesion forces on the robot. The results show that a flat plate with a full shroud can generate low pressures between the wall and itself while holding roughly 7 times its own weight, approximately 1.93 kg. Our research has indicated that the inverted wing base plates create additional downward forces that are absent in the base plate. Lastly, by channeling airflow from the inlets to the impeller, the turbulent airflow that disrupts the vortex has been eliminated, thus improving performance.

关键词：地面车辆；机器人；粘附性；空气流量

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Space robotics has been considered one of the most promising approaches for on-orbit services (OOS) such as docking, berthing, refueling, repairing, upgrading, transporting, rescuing, and orbit cleanup. Many enabling techniques have been developed recently and several technology demonstration missions have been completed. Several manned servicing missions were also successfully accomplished but unmanned real servicing missions have not been done yet. All of the accomplished unmanned technology demonstration missions were designed to service perfectly known and cooperative targets only. Servicing a non-cooperative satellite in orbit by a robotic system is still an untested mission facing many technical challenges. One of the largest challenges would be how to ensure the servicing spacecraft and the robot to safely and reliably dock with or capture the target satellite and stabilizing it for subsequent servicing, especially if the serviced target is unknown regarding its motion and kinematics/dynamics properties. Obviously, further research and development of the enabling technologies are needed. To facilitate such further research and development, this paper provides a literature review of the recently developed technologies related to the kinematics, dynamics, control and verification of space robotic systems for manned and unmanned on- orbit servicing missions.

关键词：机器人；运动学；运动;轨道；机器人

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In order to prolong continuous working time of the mobile robot to inspect on transmission lines,a robotic power management system is introduced in this paper based on the wireless power transmission technology.Magnetic resonance coupled WPT (wireless power transmission) unit is applied and its performance is analyzed in form of electrical circuit mode method.By modeling the output power of WPT unit,the relationship between coupled coefficient,angular frequency and amount of output power is given,and furthermore the energy consumption of each unit in power management system is quantified.Experiment results verified the validity of the circuit model of WPT and showed that the system could work conveniently in wireless way to provide power for the inspection robot.

关键词：无线电力传输;耦合系数Q-因子;机器人

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关键词：机器人；实时控制；平衡；扩展集

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Museum commentary robots usually have many functions,such as man-machine interaction,open language mode,actions show,and so on.The robot introduced in this paper uses cameras,infrared sensors and MP3 module to realize interpreting function and motion in accordance with the desired trajectory in the museum.This work makes up the blank space our school museum commentary robot and is benefit to promote student's positivity for museum knowledge.At the same time,this work will lay the foundation of next step commentary robot with open language mode and facial expression.

关键词：机器人;摄像机标定;路径规划;可视化控制

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Two-wheeled self-balanced robot based on the inverted pendulum model belongs to the category of the wheeled robots and it shares many characters with inverted pendulum,which are nonlinear,strong coupling,multi-variable and parameter uncertainty.Because there are many methods to keep this unstable robot self-balanced,this kind of robot has become an ideal platform to verify various kinds of control theories.In this paper,the two-wheeled robot is built on LEGO NXT set and depends on the sensors like gyro,angle transducer to keep upright.The mathematic and kinetic model of the robot is established according to the Lagrangian Dynamics and state-space equation of the whole system is presented.At last,a kind of state feedback control with the state observer is set up to make the system closed and stable.

关键词：机器人;乐高NXT;倒立摆;拉格朗日动力学;状态反馈控制;状态观测器

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Dexterous robotic hands are changing the way robots and humans interact and use common tools. Unfortunately, the complexity of the joints and actuations drive up the manufacturing cost. Some cutting edge and commercially available rapid prototyping machines now have the ability to print multiple materials and even combine these materials in the same job. A 3D model of a robotic hand was designed using Creo Parametric 2.0. Combining "hard" and "soft" materials, the model was printed on the Object Connex350 3D printer with the purpose of resembling as much as possible the human appearance and mobility of a real hand while needing no assembly. After printing the prototype, strings where installed as actuators to test mobility. Based on printing materials, the manufacturing cost of the hand was $167, significantly lower than other robotic hands without the actuators since they have more complex assembly processes.

关键词：快速成型;三维模型;印刷;尾效应;机器人

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The definition of a medical device, as reported by Council Directive 93/42/EEC and subsequent amendments and additions, and the definition of medicinal products covered by the amended Directive 2001/83/EC of the European Parliament and of the Council, highlight how these types of products can have a therapeutic effect on humans. It is possible to identify the applicable Community legislation taking into account the main mechanism of action by which the products ensure the activity that determines the therapeutic effect. In the case of a medicinal product the mechanism of action should be pharmacological, immunological or metabolic, while for a medical device the main mechanism of action should not be the same, but it may be assisted by the above mentioned mechanisms. Evaluation of some elements, which help to define what is meant by pharmacological, immunologic and metabolic mechanism of action, is a criterion of discernment for the correct regulatory position of products that have a therapeutic effect on humans.

关键词：医疗设备;药物;评估;边缘产品;指令;欧洲;评价;立法;法规;治疗;药用产品

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