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学者姓名：赵京
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Abstract ：
To effectively address the requirements of deeply coexisting-cooperative-cognitive (Tri-Co) interactions among humans, robots, and the environment within the context of Industry 4.0, it becomes crucial to conduct evaluation research on Tri-Co capabilities (TCCs) of collaborative robots (cobots), which is a knowledge-intensive task. However, existing research on performance evaluation of cobots has not yet established a common method for constructing a complete performance evaluation index system. The testing methods lack a design basis and fail to evaluate the performance of cobots through operational tasks in industrial production or daily life from the perspective of test tasks. Furthermore, these methods do not facilitate the fusion of multi-source subjective and objective decision-making information, which includes both the knowledge of experts and fundamental parameters of cobots. To this end, this study proposes a multi-source decision-making information fusion framework for evaluating the TCCs of cobots. This framework includes a construction method for an evaluation index system that fuses subjective and objective elements based on statistics, text clustering, and closed-loop feedback mechanism. It also incorporates TCCs test tasks, and an improved fuzzy analytic network process (IFANP). Additionally, it incorporates a combination weighting method that aims to minimise both subjective and objective weights deviations. This framework effectively integrates the subjective knowledge of experts with the objective fundamental parameters of cobots. It accomplishes local TCCs evaluation from the perspective of test tasks. Additionally, it achieves global TCCs evaluation by combining basic performance evaluation indices and the performance of completing the test tasks. A case by Rethink Sawyer (Sawyer) is presented to demonstrate the application process and viability of the developed framework. The experimental results and calculation examples indicate that the research has the potential to provide a certain theoretical basis and reference to solve the performance testing and evaluation issues for other types of robots in engineering applications.
Keyword ：
Collaborative robots Collaborative robots Text clustering Text clustering Robot performance evaluation Robot performance evaluation Multi-source information fusion Multi-source information fusion
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| GB/T 7714 | Yao, Jiwei , Zhao, Zhiang , Zhao, Jing . Multi-source decision-making information fusion framework for evaluating coexisting-cooperative-cognitive capabilities of collaborative robots using text clustering and combination weighting [J]. | ADVANCED ENGINEERING INFORMATICS , 2024 , 62 . |
| MLA | Yao, Jiwei 等. "Multi-source decision-making information fusion framework for evaluating coexisting-cooperative-cognitive capabilities of collaborative robots using text clustering and combination weighting" . | ADVANCED ENGINEERING INFORMATICS 62 (2024) . |
| APA | Yao, Jiwei , Zhao, Zhiang , Zhao, Jing . Multi-source decision-making information fusion framework for evaluating coexisting-cooperative-cognitive capabilities of collaborative robots using text clustering and combination weighting . | ADVANCED ENGINEERING INFORMATICS , 2024 , 62 . |
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Abstract ：
Admittance control of the robot is an important method to improve human-robot collaborative performance. However, it displays poor matching between admittance parameters and human-robot collaborative motion. This results in poor motion performance when the robot interacts with the changeable environment (human). Therefore, to improve the performance of human-robot collaboration, the human-like variable admittance parameter regulator (HVAPR) based on the change rate of interaction force is proposed by studying the human arm's static and dynamic admittance parameters in human-human collaborative motion. HVAPR can generate admittance parameters matching with human collaborative motion. To test the performance of the proposed HVAPR, the human-robot collaborative motion experiment based on HVAPR is designed and compared with the variable admittance parameter regulator (VAPR). The satisfaction, recognition ratio, and recognition confidence of the two admittance parameter regulators are statistically analyzed via questionnaire. Simultaneously, the trajectory and interaction force of the robot are analyzed, and the performance of the human-robot collaborative motion is assessed and compared using the trajectory smoothness index and average energy index. The results show that HVAPR is superior to VAPR in human-robot collaborative satisfaction, robot trajectory smoothness, and average energy consumption.
Keyword ：
human-robot collaborative motion human-robot collaborative motion evaluation of human-robot collaborative performance evaluation of human-robot collaborative performance compliant control compliant control human-robot interaction human-robot interaction human-like variable admittance control human-like variable admittance control
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| GB/T 7714 | Wang, Chengyun , Zhao, Jing . Based on human-like variable admittance control for human-robot collaborative motion [J]. | ROBOTICA , 2023 , 41 (7) : 2155-2176 . |
| MLA | Wang, Chengyun 等. "Based on human-like variable admittance control for human-robot collaborative motion" . | ROBOTICA 41 . 7 (2023) : 2155-2176 . |
| APA | Wang, Chengyun , Zhao, Jing . Based on human-like variable admittance control for human-robot collaborative motion . | ROBOTICA , 2023 , 41 (7) , 2155-2176 . |
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Abstract ：
A dual-chain manipulator with one fixed base and two kinematic chains is presented in this paper. Aiming at the difficulty of motion planning of dual-chain manipulator, a motion planning method of dual-chain manipulator based on Artificial Bee Colony Algorithm (ABC) is proposed. Firstly, the ABC is used to optimize the initial configuration of the dual-chain manipulator. Then, the end-effector path of the dual-chain manipulator is planned by the Rapidly-Exploring Random Tree Star (RRT*). Finally, the joint trajectory is generated by Gradient Projection Method (GPM) after the initial configuration and end-effector path are determined. In the experimental part, the prototype experiment of the dual-chain manipulator is given, which proves the feasibility of the motion planning method proposed.
Keyword ：
Artificial Bee Colony Algorithm Artificial Bee Colony Algorithm collision detection collision detection redundant dual-chain manipulator redundant dual-chain manipulator motion planning motion planning
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| GB/T 7714 | Zhou, Zhenyong , Zhao, Jing , Zhang, Ziqiang et al. Motion Planning of Dual-Chain Manipulator Based on Artificial Bee Colony Algorithm [J]. | 2023 9TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND ROBOTICS, ICCAR , 2023 : 55-60 . |
| MLA | Zhou, Zhenyong et al. "Motion Planning of Dual-Chain Manipulator Based on Artificial Bee Colony Algorithm" . | 2023 9TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND ROBOTICS, ICCAR (2023) : 55-60 . |
| APA | Zhou, Zhenyong , Zhao, Jing , Zhang, Ziqiang , Li, Xiaohui . Motion Planning of Dual-Chain Manipulator Based on Artificial Bee Colony Algorithm . | 2023 9TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND ROBOTICS, ICCAR , 2023 , 55-60 . |
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Abstract ：
Redundant and dual-arm manipulators exhibit good flexibility and excellent cooperation ability, respectively. Therefore, both these manipulators are used to design a redundant dual-chain manipulator with two kinematic chains and a fixed base. In addition, a motion planning method is proposed using a manifold analysis based on the characteristics of this designed manipulator to resolve the difficulty associated with motion planning for a dual-chain manipulator under multiple constraints. Firstly, the paths of the two end-effectors of the dual-chain manipulator are planned synchronously by the Rapidly-exploring Random Tree Star (RRT*) in the Cartesian space. Then, joint trajectories that correspond to the paths are generated by the manifold analysis in the joint space. In this method, the manifold continuity constraint is added to the end-effector path planning of RRT* to ensure that the planned paths have continuous joint trajectories. The joint trajectories are optimised by analysing the performance of the manipulator on the manifolds to improve their motion performance. The prototype experiments of loose coordination and tight coordination are provided in the experimental section; these experiments prove the feasibility and practicability of the motion planning method proposed in this study.
Keyword ：
Motion planning Motion planning Self-motion manifolds Self-motion manifolds Redundant dual-chain manipulator Redundant dual-chain manipulator Multiple constraints Multiple constraints
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| GB/T 7714 | Zhou, Zhenyong , Zhao, Jing , Zhang, Ziqiang et al. Motion Planning Method of Redundant Dual-Chain Manipulator with Multiple Constraints [J]. | JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS , 2023 , 108 (4) . |
| MLA | Zhou, Zhenyong et al. "Motion Planning Method of Redundant Dual-Chain Manipulator with Multiple Constraints" . | JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS 108 . 4 (2023) . |
| APA | Zhou, Zhenyong , Zhao, Jing , Zhang, Ziqiang , Li, Xiaohui . Motion Planning Method of Redundant Dual-Chain Manipulator with Multiple Constraints . | JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS , 2023 , 108 (4) . |
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Abstract ：
本发明公开了基于接触状态模型和自适应阻抗控制的柔顺轴孔装配方法，机器人开始轴孔装配任务之后，通过视觉传感器引导或示教学习将轴件运动至孔件附近，再通过孔外倾斜式阿基米德螺旋搜索的方式将轴件运动至孔内，使得轴件与孔件接触及实时采集到的力/力矩信息，得到当前的轴孔初始接触状态。将所有的初始接触状态均调整为孔内两点接触状态，及时辨识接触状态和优化调整策略。由力/力矩传感器实时采集到的力/力矩信息判断出当前轴孔中心线的倾斜角，从而通过控制机器人完成一次姿态调整，使得轴孔中心线完成对齐。在轴孔装配即将结束时，轴端面与孔底面发生接触，此时需尽可能地避免轴端面与孔底面发生摩擦，控制轻微上提一段距离再完成装配。
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| GB/T 7714 | 赵京 , 杨书生 . 基于接触状态模型和自适应阻抗控制的柔顺轴孔装配方法 : CN202310171186.6[P]. | 2023-02-27 . |
| MLA | 赵京 et al. "基于接触状态模型和自适应阻抗控制的柔顺轴孔装配方法" : CN202310171186.6. | 2023-02-27 . |
| APA | 赵京 , 杨书生 . 基于接触状态模型和自适应阻抗控制的柔顺轴孔装配方法 : CN202310171186.6. | 2023-02-27 . |
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Abstract ：
Single degree-of-freedom (DOF) planar linkage mechanism has been widely used in bio-inspired robots because of its simple control. However, designing a single DOF mechanism to meet the complex motion law of creatures is difficult, and the multiple variables of six-or eight-bar mechanism further increase the design difficulty. A design method of single DOF planar linkage bionic mechanism is proposed in this paper. Through the continuous constraints on the position of all reference points with constraint descent method, the requirements of the bionic mechanism in shape, motion trajectory, and posture are met. As for the mechanism by which reference point coordinates cannot be expressed as the analytical solution of the driving angle, a single DOF mechanism is equivalent to a double DOF mechanism containing additional optimization variables, which further improves the design efficiency. For example, the design process of six-and eight-bar bionic mechanisms is given, confirming the feasibility of the method. Then, the effects of the constraint conditions on the design process are analyzed in detail. This study provides a reference for the design of bio-inspired robots.
Keyword ：
Continuous position constraints Continuous position constraints Design method Design method Single DOF Single DOF Planar linkage bionic mechanism Planar linkage bionic mechanism Six-or eight-bar mechanism Six-or eight-bar mechanism
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| GB/T 7714 | Zhang, Ziqiang , Zhang, Yong , Zhao, Jing et al. Design method of a single degree-of-freedom planar linkage bionic mechanism based on continuous position constraints [J]. | MECHANISM AND MACHINE THEORY , 2022 , 170 . |
| MLA | Zhang, Ziqiang et al. "Design method of a single degree-of-freedom planar linkage bionic mechanism based on continuous position constraints" . | MECHANISM AND MACHINE THEORY 170 (2022) . |
| APA | Zhang, Ziqiang , Zhang, Yong , Zhao, Jing , Zhou, Zhenyong . Design method of a single degree-of-freedom planar linkage bionic mechanism based on continuous position constraints . | MECHANISM AND MACHINE THEORY , 2022 , 170 . |
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Abstract ：
本发明公开了一种基于变胞机构的钳剪抓一体属具及工程机械，包括机架，机架左右两侧对称设置有分离机座、功能转换缸、动力缸、连杆、钳剪刀具和抱爪；分离机座与机架的斜向导轨槽滑动配合而仅能沿斜向导轨槽平移；分离机座与钳剪刀具之间设置有用于驱动钳剪刀具开合的滑块摇杆机构ABC；分离机座与抱爪之间设置有用于驱动抱爪开合的双摇杆机构BCDE；通过功能转换缸推动分离机座沿着斜向导轨槽平移，以实现铰接轴C和铰接轴D的距离变化，进而实现钳剪模式和抱抓模式的转换，双摇杆机构BCDE在钳剪模式下和抱抓模式下构成一组变胞机构。这种属具通过单套动力缸分别实现钳剪动作和抱抓动作，并且具有模式转换方便、刀具展开范围大、运动时不干涉的特点。
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| GB/T 7714 | 赵京 , 王旭东 , 周振勇 . 一种基于变胞机构的钳剪抓一体属具及工程机械 : CN202211218767.2[P]. | 2022-10-07 . |
| MLA | 赵京 et al. "一种基于变胞机构的钳剪抓一体属具及工程机械" : CN202211218767.2. | 2022-10-07 . |
| APA | 赵京 , 王旭东 , 周振勇 . 一种基于变胞机构的钳剪抓一体属具及工程机械 : CN202211218767.2. | 2022-10-07 . |
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Abstract ：
本发明公开了协作机器人共融能力测试任务及其综合评价方法，属于协作机器人性能测试与综合评价技术领域。包括以下步骤，S1、根据现有国家标准或国际标准，使用德菲尔法和皮尔逊相关系数方法遴选出协作机器人共融能力第一类评价指标；S2、通过K‑means算法的文本聚类过程，遴选出协作机器人共融能力第二类评价指标。S3、合并第一类和第二类评价指标，构建出一套主客观结合、系统完整、科学合理和前沿创新的协作机器人共融能力评价指标体系；S4、基于上述评价指标体系，结合协作机器人的实际应用与前沿探索，设计出五项协作机器人共融能力测试任务；S5、使用模糊网络分析法，对协作机器人共融能力测试任务进行综合评价。
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| GB/T 7714 | 赵京 , 姚季伟 . 协作机器人共融能力测试任务及其综合评价方法 : CN202211571541.0[P]. | 2022-12-08 . |
| MLA | 赵京 et al. "协作机器人共融能力测试任务及其综合评价方法" : CN202211571541.0. | 2022-12-08 . |
| APA | 赵京 , 姚季伟 . 协作机器人共融能力测试任务及其综合评价方法 : CN202211571541.0. | 2022-12-08 . |
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Abstract ：
本发明公开了一种具有变位置分支结构的可收展协作机械臂，包括主臂、分叉臂；所述主臂包括基座、可伸缩大臂、伸缩机构、关节轴向旋转机构A、小臂A、小臂B、小臂C、末端连接机构、关节轴向旋转机构B、移动部件A、移动部件B、移动部件C；所述可伸缩大臂通过电机驱动的转动副与基座连接；所述伸缩机构的两端固定在可伸缩大臂的中部、关节轴向旋转机构A通过电机驱动的转动副与可伸缩大臂连接；所述小臂A通过电机转动副与关节轴向旋转机构A连接；所述小臂B通过电机驱动的转动副与小臂A连接。本发明具有变位置分支结构的可收展协作机械臂，结构巧妙，运动灵活，能够适应多种工作场景，工作范围大，实用性强。
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| GB/T 7714 | 张自强 , 康天宇 , 赵京 et al. 一种具有变位置分支结构的可收展协作机械臂 : CN202211401448.5[P]. | 2022-11-09 . |
| MLA | 张自强 et al. "一种具有变位置分支结构的可收展协作机械臂" : CN202211401448.5. | 2022-11-09 . |
| APA | 张自强 , 康天宇 , 赵京 , 李晓辉 , 刘维惠 . 一种具有变位置分支结构的可收展协作机械臂 : CN202211401448.5. | 2022-11-09 . |
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Abstract ：
本发明公开了一种便于快速连接拆分的内孔法兰，第一法兰体环形阵列布置有多个结构相同的第一定位孔，第二法兰体环形阵列布置有多个结构相同的第二定位孔，当第二法兰体并紧到第一法兰体前侧时，相邻的第一定位孔与第二定位孔轴线重合并贯通；快速连接机构设置在第一法兰体后侧，活动销件包括多个并环形阵列布置在调节座外，各活动销件分别通过连杆与调节座铰接，通过螺母驱动调节座向靠近支撑座的方向移动，以通过各连杆分别向插入在第一定位孔和第二定位孔内的各活动销件施加径向力，使得并紧状态的第一法兰件与第二法兰件位置固定，通过单个调节螺母能够实现两个法兰的快速连接与拆卸，操作方便，节省时间。
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| GB/T 7714 | 赵京 , 周振勇 . 一种便于快速连接拆分的法兰连接装置 : CN202211218766.8[P]. | 2022-10-07 . |
| MLA | 赵京 et al. "一种便于快速连接拆分的法兰连接装置" : CN202211218766.8. | 2022-10-07 . |
| APA | 赵京 , 周振勇 . 一种便于快速连接拆分的法兰连接装置 : CN202211218766.8. | 2022-10-07 . |
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