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style="margin-left: 0pt; text-indent: 0pt; line-height: 11pt;"><!--[if !supportLists]--><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"> </span><!--[endif]--><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">选题背景与意义</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle18" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">本课题来源于中国科学院高速并联工业机器人预研项目，并由宁波市国际合作项目 </span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">(2014</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">D</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">10008)、</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">数控一代机械产品创新应用示范程</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">(2014</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">BAZ</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">04784)、</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">精密驱动控制技 术创新团队</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">(2012</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">B</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">82005)</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">和宁波市自然科学基</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">（2014</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">A</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">610084)</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">支持。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle18" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">2008年经济危机之后，欧美等发达国家加大了对制造业的重视程度</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">[1</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">_</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">2]</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">。再制造、 制造业回归以及美国制造成为其广为宣传的口号，美国总统奥巴马还签署了“先进制造 伙伴关系</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">（</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">AMP</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">-</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">AdvancedManufacturingPartnership</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">) </span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">“计划，这个协议的一个重要议题 就是通过机器人及其自动化技术来实现与中国的廉价劳动力的竞争。在新一轮的制造技 术革新方面，欧美国家的主要革新重点是利用软件和信息化技术手段来提升系统的整体 性能。有些厂家甚至提出了以软件的提升来降低硬件成本，从而在较为廉价的硬件上实 现较高的性能</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">[3</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">_</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">4]</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">，使产品具有价格优势。新一轮的制造技术革新是跨机械、电子以及计 算机与信息技术等多学科的革新，欧美国家特别是美国，在计算机软件和信息技术上具 有较高的领先优势，由于，缩短软件的差距要比缩短硬件差距相对容易一些。所以，在 我国的制造行业，迫切需要开展软件算法的研究</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">[5</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">_</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">6]</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle18" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">轨迹规划是机器人软件算法中的核心内容，机器人的轨迹规划研宄不是一个全新的 课题，很多国内外的学者都在这个课题上做了大量的研宄</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">[7</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">_</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">14]</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">，但是真正在工业现场的 实际应用却是少之又少。宄其原因还是由于工程化应用研宄过少，通用化、理论化以及 系统化的研宄还有欠缺。同时针对使用人群，例如，操作工人以及非机器人专业的工程 师的易用性开发还不够。本课题结合中国科学院宁波材料技术与工程研宄所机器人研究 团队己有基础，将轨迹规划过程直接应用到系统设计流程中，从而提高整个设计流程的 效率与设计水平，实现低成本高性能的机器人设计，采用运动学和动力学更为复杂的高 速并联工业机器人作为具体实施目标，进行机器人的轨迹规划与控制实验。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle18" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">虽然我国在机器人整体技术上落后于欧美日韩等工业发达国家，但是在机器人轨迹 规划和算法实现上，却是站在同一起跑线上的。同时，软件和算法分析、实现的可行性 完全没有问题。本课题以样条函数的数学理论研宄为起点，逐步深入到机器人领域的轨 迹规划算法。该研宄成果将广泛应用于各类工业机器人中，例如自动化机器人检测、医 疗、包装、码垛、分拣、搬运、焊接、切割、打磨、加工乃至移动机器人等各个方向。</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p> <p class="NewStyle18" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">机器人轨迹规划与控制优化属于工业机器人技术的范畴，发展工业机器人是我国实 现制造强国的一个重要手段</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt; vertical-align: super;">[15]</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">。无论是国内还是国外，针对工业机器人技术的研宄一直 是个热点。特别是最近欧美兴起的“再制造”热潮，更是将工业机器人技术的研宄推到了 一个前所未有的高度。在2013年，国内发展机器人技术，打造机器人产业园的口号出 现在了大大小小的国内制造业相关展会上。在国外，互联网技术龙头</span><span class="16" style="font-family: Georgia; letter-spacing: 0pt; font-size: 10.5pt;">google</span><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;">公司更是一 口气收购了七家机器人公司。在各行各业都极度看好机器人领域的情况下，作为国内的 机器人研究团队，需要的是稳定心态，从基础研宄着手，以扎实的技术基础来稳步发展 我国的机器人事业。该课题从机器人轨迹规划的数学理论研究开始，逐步深入的跟踪机 器人控制技术的发展，从而推动工业机器人及其相关技术的发展。</span></p> <p class="NewStyle18" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"> </p> <p class="NewStyle18" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-size:9.0pt;font-family:宋体;mso-ascii-font-family: "Times New Roman";mso-hansi-font-family:"Times New Roman";mso-bidi-font-family: "Times New Roman";mso-font-kerning:1.0pt;mso-ansi-language:EN-US;mso-fareast-language: ZH-CN;mso-bidi-language:AR-SA">本文采摘自“高速并联工业机械手臂分析设计与实现”，因为编辑困难导致有些函数、表格、图片、内容无法显示，有需要者可以在网络中查找相关文章！本文由伯特利数控整理发表文章均来自网络仅供学习参考，转载请注明！</span></p> <p class="NewStyle18" style="margin-left: 0pt; text-indent: 18pt; line-height: 23.3pt;"><span style="font-family: 宋体; letter-spacing: 0pt; font-size: 11pt;"><o:p></o:p></span></p></div> <div class="blank30"></div> <!-- tag --> <div class="blank10"></div> 标签： <a href='/index.php?case=tag&act=show&t=wap&tag=%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>加工中心</a> <a href='/index.php?case=tag&act=show&t=wap&tag=%E6%95%B0%E6%8E%A7%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>数控加工中心</a> <a href='/index.php?case=tag&act=show&t=wap&tag=CNC%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' target='_blank'>CNC加工中心</a> <a href='/index.php?case=tag&act=show&t=wap&tag=%E6%95%B0%E6%8E%A7%E6%9C%BA%E5%BA%8A' target='_blank'>数控机床</a> <a href='/index.php?case=tag&act=show&t=wap&tag=%E9%AB%98%E9%80%9F%E5%8A%A0%E5%B7%A5%E4%B8%AD%E5%BF%83' 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