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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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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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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Repainting existing roadway markings (turn arrows, STOP messages, railroad crossings, etc.) is an important task for transportation maintenance organizations. MnDOT estimates that over 75of symbol and message painting is the repainting of existing markings. It would be extremely valuable for an automated painting system to have a vision guidance capability whereby an existing mark could be repainted accurately with little operator input. In this project a vision system was developed that is capable of identifying existing painted pavement markings and determining their dimensions, location, and orientation. Techniques were also developed whereby this information could be used to determine the location of the marking in the workspace of a painting robot to enable it to accurately repaint the marking. The vehicle-mounted robotic painter is still being built and tested, so final test results will not be available until the vision system can be completely integrated with the painter, and the two can be tested together. The accuracy of the projection produced using the techniques developed in this project would suggest that the final system will be capable of repainting pavement markings almost exactly where they appear on the roadway. Expected benefits of the deployment of a vision-guided robotic painting device include improved operator safety, improved productivity, and improved flexibility in roadway marking and repainting operations. Eventual users of a device using this technology could be city, county, state, and federal government agencies and private companies or contractors.

关键词：机器人；行车安全；公路养护；路面标志

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Although people's legs are capable of a broad range of muscle-use and gait patterns,they generally prefer just two,walking and running.A popular hypothesis regarding legged locomotion is that humans and other large animals walk and run in a manner that minimizes the metabolic energy expenditure for locomotion.Here,a mathematical model for a simple two-dimensional planar kneed walker with point feet and two bended knees is discussed.An energy-effective gait is designed by using pieeewise torque method.Then,the robot model can exhibit a natural and reasonable walk on a level ground.The results can prove that the proposed optimal energy-effective gait is suitable for this kneed biped walking robot.And we also discover some walking rules maybe true through the results of optimization.

关键词：双足机器人;优化;能源效益

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关键词：机器人；实时控制；平衡；扩展集

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We study the locomotor mechanics of a small, lightweight robot (DynaRoACH, 10 cm, 25 g) which can move on a granular substrate of 3 mm diameter glass particles at speeds up to 5 body length/s, approaching the performance of certain desert-dwelling animals. To reveal how the robot achieves this performance, we used high-speed imaging to capture its kinematics, and developed a numerical multi-body simulation of the robot coupled to an experimentally validated simulation of the granular medium. Average speeds measured in experiment and simulation agreed well, and increased nonlinearly with stride frequency, reflecting a change in propulsion mode. At low frequencies, the robot used a quasistatic 'rotary walking' mode, in which the substrate yielded as legs penetrated and then solidified once vertical force balance was achieved. At high frequencies the robot propelled itself using the speed-dependent fluid-like inertial response of the material. The simulation allows variation of parameters which are inconvenient to modify in experiment, and thus gives insight into how substrate and robot properties change performance. Our study reveals how lightweight animals can achieve high performance on granular substrates; such insights can advance the design and control of robots in deformable terrains.

关键词：步态;机器人;平衡;控制;耦合（互动）

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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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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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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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