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CUBE, a Cable-driven Device for Limb Rehabilitation
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作者 Daniele Cafolla Matteo Russo Giuseppe Carbone 《仿生工程学报:英文版》 SCIE EI CSCD 2019年第3期492-502,共11页
In this paper, a novel cable-driven parallel robot, CUBE, is introduced for the assistance of patients in rehabilitation exercising of both upper and lower limbs. The system is characterized by a lightweight structure... In this paper, a novel cable-driven parallel robot, CUBE, is introduced for the assistance of patients in rehabilitation exercising of both upper and lower limbs. The system is characterized by a lightweight structure that is easy to set-up and operate, for both clinical and home usage for both pre-determined and customized exercises, with control over the position of the end-effector while locking its rotation around the horizontal axes. Its cable-driven design makes it inherently safe in human/robot interactions also due to the extremely low inertia. While a novel end-effector design makes the device wearable both on the upper and lower limbs without having to disassemble any part of the structure. The design is presented with its kinematic analysis. Then, the manufacturing through 3D?printing and commercial components of a first prototype is reported. Finally, the system is validated through motion tests along simple trajectories and two different spatial exercises. 展开更多
关键词 CABLE-DRIVEN ROBOTS medical ROBOTS PARALLEL ROBOTS REHABILITATION devices
轮-履复合被动自适应机器人设计与参数分析 预览
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作者 张明路 李敏 +1 位作者 田颖 吕晓玲 《机械科学与技术》 CSCD 北大核心 2019年第2期198-204,共7页
针对地形狭窄、障碍物较高的非结构环境,提出了一种可正反向越障的轮-履复合被动自适应机器人。该机器人由车体模块、尾轮模块和两个左、右对称布置的轮-履复合模块组成。简述该机器人的整体结构和模式转换原理,并详细介绍了其动力传递... 针对地形狭窄、障碍物较高的非结构环境,提出了一种可正反向越障的轮-履复合被动自适应机器人。该机器人由车体模块、尾轮模块和两个左、右对称布置的轮-履复合模块组成。简述该机器人的整体结构和模式转换原理,并详细介绍了其动力传递过程和运动过程。通过建立机器人轮-履复合模块数学模型,分析各构件的运动关系,对轮-履模块的模式转换过程及受力情况进行研究,并研究了轮-履复合模块结构变形过程中履带长度的变化情况。分析结果验证了参数设计的合理性和方案的可行性。 展开更多
关键词 轮-履复合 被动自适应 移动机器人 履带可变形 参数分析
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考虑工具和空间约束的机器人装配线平衡优化
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作者 周炳海 吴琼 《吉林大学学报:工学版》 EI CAS CSCD 北大核心 2019年第6期2069-2075,共7页
为了提高流水装配线的效率和产能,在进行机器人装配线平衡的同时,优化任务资源的占用空间大小,考虑工具的占用空间及切换次数,在工作站数量最小化以及每个工作站占用空间最小化两个冲突目标之间寻求平衡。针对该带约束的多目标优化问题... 为了提高流水装配线的效率和产能,在进行机器人装配线平衡的同时,优化任务资源的占用空间大小,考虑工具的占用空间及切换次数,在工作站数量最小化以及每个工作站占用空间最小化两个冲突目标之间寻求平衡。针对该带约束的多目标优化问题,首先建立数学模型,然后提出一种改进的多目标免疫克隆算法,基于该问题的特殊性提出了针对性的编码方式,引入了Pareto前沿排序、精英策略、全局搜索策略,以提升该算法的综合性能。最后,对不同规模的实例问题进行优化,并且与其他算法进行对比,以评价本文算法的效率和优越性。结果表明:本文算法在得到的解数量与质量方面都更加有效,对于不同规模问题都具有可行性。 展开更多
关键词 计算机应用 机器人 装配线平衡 空间约束 多目标 免疫克隆算法
机器人用永磁同步电机的双自由度控制 预览
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作者 任虹霞 王桐 《微电机》 北大核心 2019年第11期61-64,共4页
通过分析永磁同步伺服电机i_d=0矢量控制模型,针对机器人运行时,负载惯量和扰动变化大的应用特点,提出了一种适用于机器人专用伺服的前馈型双自由度PID控制器。该算法有效地解决了经典PID算法无法同时兼顾跟踪性能和抗扰动性能的缺点。... 通过分析永磁同步伺服电机i_d=0矢量控制模型,针对机器人运行时,负载惯量和扰动变化大的应用特点,提出了一种适用于机器人专用伺服的前馈型双自由度PID控制器。该算法有效地解决了经典PID算法无法同时兼顾跟踪性能和抗扰动性能的缺点。仿真结果表明,此种控制方法能有效的改善伺服驱动系统的解耦性能,获得良好的设定值跟踪特性和外部扰动抑制特性,且在实际伺服系统中能够有效的应用。 展开更多
关键词 双自由度 FOC PID PMSM 机器人
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仓储物流机器人批量拣选路径规划仿真 预览
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作者 陈文 《安阳师范学院学报》 2019年第5期35-39,共5页
本文对仓储物流机器人的发展情况进行了研究,首先结合物流企业的工作特点,建立一个灵活的仓储空间模型,建立机器人运动规则,道路要求。然后对整个机器人运行任务进行分解。根据机器人正常工作中的特点,修正A*算法,实现特殊情况下的路径... 本文对仓储物流机器人的发展情况进行了研究,首先结合物流企业的工作特点,建立一个灵活的仓储空间模型,建立机器人运动规则,道路要求。然后对整个机器人运行任务进行分解。根据机器人正常工作中的特点,修正A*算法,实现特殊情况下的路径拣选。通过加入时序算法,建立地图空间,进行三维路径规划。通过仿真实验得出数据,比较特殊路径规划算法与时序算法的优缺点,验证了批量路径规划方法的稳定性与高效性。 展开更多
关键词 仓储物流 机器人 拣选路径 仿真实验
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一种物流行业智能自动分拣处理系统 预览 被引量:1
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作者 郭晓辉 《物流工程与管理》 2019年第4期83-84,共2页
智能自动分拣处理系统集成了机电设备、工业自动化系统和信息管理系统,包含了输送系统、机器人及AutomatedGuidedVehicle(AGV)等应用技术,是一个极其复杂的业务方案应用系统,为智能物流自动化分拣的发展提出了新的解决思路。
关键词 智能自动分拣 机器人 AGV
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Energy-optimal problem of multiple nonholonomic wheeled mobile robots via distributed event-triggered optimization algorithm
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作者 张潆文 王金环 +1 位作者 徐勇 杨德东 《中国物理B:英文版》 SCIE EI CAS CSCD 2019年第3期122-129,共8页
The distributed event-triggered optimization problem for multiple nonholonomic robots has been studied to minimize the global battery energy consumption. Each robot possesses its own cost function which depends on the... The distributed event-triggered optimization problem for multiple nonholonomic robots has been studied to minimize the global battery energy consumption. Each robot possesses its own cost function which depends on the state of the hand position and represents battery energy consumption. By coordinate transformation, the dynamics of the hand positions can be formulated into two groups of first-order integrators. Then the distributed event-triggered optimization algorithm is designed such that the states of robots’ hand positions exponentially converge to the optimizer of the global cost function.Meanwhile, the velocity and orientation of each robot are ensured to reach zero and a certain constant, respectively. Moreover, the inter-execution time is lower bounded and the Zeno behavior is therefore naturally avoided. Numerical simulations show the effectiveness of the proposed algorithm. 展开更多
关键词 DISTRIBUTED optimization NONHOLONOMIC ROBOTS event-triggered energy-optimal CONSENSUS
一种考虑运动学和动力学参数不确定的机器人自适应控制方法
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作者 李剑飞 张大伟 王耀兵 《中国科学:物理学、力学、天文学》 CSCD 北大核心 2019年第2期168-174,共7页
在机器人精细操控任务中,模型准确性的缺失会影响机器人的控制性能,现有的自适应控制方法可以有效解决动力学参数存在不确定性的机器人控制问题,然而运动学参数不准确或未知的情况也普遍存在,往往这种不确定性会给机器人的位姿控制精度... 在机器人精细操控任务中,模型准确性的缺失会影响机器人的控制性能,现有的自适应控制方法可以有效解决动力学参数存在不确定性的机器人控制问题,然而运动学参数不准确或未知的情况也普遍存在,往往这种不确定性会给机器人的位姿控制精度带来更大的影响.虽然有些研究试图通过视觉等测量方式实现运动学模型的估计,但是迄今为止,同时考虑动力学参数和运动学参数不确定性的研究仍然少见.本文提出了一种自适应算法,同时考虑运动学和动力学参数的不确定性,在无需测量机器人末端速度的条件下得到了笛卡儿空间全局渐近稳定的轨迹跟踪控制,相比于已有方法计算更小量、更简洁、易实现.通过一个二自由度机械臂的仿真案例验证了所提方法的有效性. 展开更多
关键词 机器人 自适应 参数不确定
New advances in multiple autonomous aerial robots formation control technology
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作者 XU Yang LUO DeLin +1 位作者 YOU YanCheng DUAN HaiBin 《中国科学:技术科学英文版》 SCIE EI CAS CSCD 2019年第10期1871-1872,共2页
Autonomous aerial robotics has become a hot direction ofresearch inside the community of robotics and control. Theprimary problem addressed by formation control is to steermultiple aerial robots to form desired geomet... Autonomous aerial robotics has become a hot direction ofresearch inside the community of robotics and control. Theprimary problem addressed by formation control is to steermultiple aerial robots to form desired geometric patterns and,at the same time, realize desired collective swarming behaviorsin a decentralized or distributed manner. In contrast toground vehicles, aerial robots have the ability to work inthree-dimensional (3D) airspace. Equipped with electric orhydraulic motors, the vertical take-off and landing (VTOL)capability is a typical performance of aerial robots. Formationcontrol technology for such aerial robots is incessantlyspringing up to satisfy the requirements of highly intelligentautonomous systems, which affects both military and civilareas, including missile defense, battlefield surveillance,satellite network construction, fire suppression, power gridinspection, commercial show, etc. [1–5]. Such a problem ofmultiple aerial robots formation control is exceptionallychallenging to analyze if practical constraints such as complexdynamics, motion constraints, and imperfect measurementsare incorporated. 展开更多
关键词 Laplacian New ADVANCES in MULTIPLE AUTONOMOUS AERIAL ROBOTS formation control TECHNOLOGY
基于视觉识别系统与机器人自动锁螺丝系统的平台设计 预览
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作者 刘国联 张敏海 《信息与电脑》 2019年第14期74-75,共2页
由于装配自动化生产线中纯手工拧螺丝装配需要占用大量工作时间和精力,整体效率不高,因此目前采用电动或者气动方式。此项目将实现机器人配合视觉识别系统进行拧螺丝工作,运用基于PC机的LabVIEWVDM机器视觉识别软件的强大运算能力和机... 由于装配自动化生产线中纯手工拧螺丝装配需要占用大量工作时间和精力,整体效率不高,因此目前采用电动或者气动方式。此项目将实现机器人配合视觉识别系统进行拧螺丝工作,运用基于PC机的LabVIEWVDM机器视觉识别软件的强大运算能力和机器人的高可靠性、重复性、高速等特点,搭建系统,减少了手工拧螺丝的时间,且由于不间断连续工作的特点,极大提高了自动化生产线的工作效率和智能化程度。 展开更多
关键词 视觉识别 机器人 LABVIEW VDM
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一种机器人的平面约束自标定技术研究 预览
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作者 李楠 平雪良 +2 位作者 王晨学 徐超 蒋毅 《机械科学与技术》 CSCD 北大核心 2019年第8期1214-1222,共9页
针对目前基于平面约束的标定方法误差模型复杂、实验条件较为苛刻等问题,提出了一种操作简单的平面约束标定方法。首先提出了修正的末端位置误差模型;其次在标定块的角点上建立坐标系,利用测量头对经过该角点的三个平面分别进行接触式测... 针对目前基于平面约束的标定方法误差模型复杂、实验条件较为苛刻等问题,提出了一种操作简单的平面约束标定方法。首先提出了修正的末端位置误差模型;其次在标定块的角点上建立坐标系,利用测量头对经过该角点的三个平面分别进行接触式测量,记录接触瞬间的各组关节角度值并将机器人末端位置转换到标定块坐标系中,从而建立平面约束误差模型;另外通过接触式测量头及编程实现了自动化测量,提高了标定效率;最后对运动学参数误差进行辨识并将结果修正到控制器。实验表明,机器人的绝对位置精度有明显提高。该标定方法成本低、效率高、操作简单,在保证精度的前提下简化了误差模型,具有实际应用价值。 展开更多
关键词 机器人标定 平面约束 误差模型 接触式测量头
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Building a Plutchik's Wheel Inspired Affective Model for Social Robots
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作者 Xianyu Qi Wei Wang +3 位作者 Lei Guo Mingbo Li Xiaoyu Zhang Ran Wei 《仿生工程学报:英文版》 SCIE EI CSCD 2019年第2期209-221,共13页
As more and more social robots are applied in human-populated environments,they need an affective model to communicate with human beings naturally and believably.In addition,the model should be flexible to be applied ... As more and more social robots are applied in human-populated environments,they need an affective model to communicate with human beings naturally and believably.In addition,the model should be flexible to be applied in different areas,such as entertainment and education,and can be easily understood and operated by robot designers.To meet these requirements,we propose an affective model including emotions,moods and personality traits for social robots to mimic the affect changes of human beings.Inspired by the Plutchik's Wheel of Emotions,we first construct an affective space which can simultaneously represent the affective concepts.According to the affective space,the model can be visualized vividly and easily understood.We then describe the interaction among these concepts to change the robot states to make the robot interact with human beings naturally and believably.By tuning the parameters of the model,it can be flexibly applied in different areas.We evaluate the proposed model in simulation and human-robot interaction experiments and the experimental results show that the model is effective. 展开更多
关键词 human-robot interaction social ROBOTS AFFECTIVE model emotions MOODS PERSONALITY TRAITS
A Multi-module Controller for Walking Quadruped Robots
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作者 Boxing Wang Ziwei Wan +3 位作者 Chunlin Zhou Jun Wu Yanfeng Qiu Zhijun Gao 《仿生工程学报:英文版》 SCIE EI CSCD 2019年第2期253-263,共11页
Motion control based on biologically inspired methods,such as Central Pattern Generator(CPG)models,offers a promising technique for robot control.However,for a quadruped robot which needs to maintain balance while per... Motion control based on biologically inspired methods,such as Central Pattern Generator(CPG)models,offers a promising technique for robot control.However,for a quadruped robot which needs to maintain balance while performing flexible movements,this technique often requires a complicated nonlinear oscillator to build a controller,and it is difficult to achieve agility by merely modifying the predefined limit cycle in real time.In this study,we tried to solve this problem by constructing a multi-module controller based on CPG.The different parallel modules will ensure the dynamic stability and agility of walking.In the proposed controller,a specific control task is accomplished by adding basic and superposed motions.The basic motions decide the basic foot end trajectories,which are generated by the predefined limit cycle of the CPG model.According to conventional kinematics-based design,the superposed motions are generated through different modules alter the basic foot end trajectories to maintain balance and increase agility.As a considerable stability margin can be achieved,different modules are designed separately.The proposed CPG-based controller is capable of stabilizing a walking quadruped robot and performing start and stop movements,turning,lateral movement and reversal in real time.Experiments and simulations demonstrate the effectiveness of the method. 展开更多
关键词 Central Pattern Generator(CPG) OPEN-LOOP stability AGILE locomotion control QUADRUPED ROBOTS
太阳模拟器光斑自动对焦系统设计
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作者 牛虎利 段凯蒙 +1 位作者 邢佳洛 张嘉钰 《光学技术》 CAS CSCD 北大核心 2019年第2期148-152,共5页
为提升多光源太阳模拟器复合光斑的对焦精度,以构建的多光源太阳模拟器为实验研究对象,采用机器视觉的方法提取聚焦光斑中心世界坐标,将太阳模拟器简化为关节机器人,利用D-H法得到灯单元反向运动学参数,进而完成光斑自动对焦系统设计,... 为提升多光源太阳模拟器复合光斑的对焦精度,以构建的多光源太阳模拟器为实验研究对象,采用机器视觉的方法提取聚焦光斑中心世界坐标,将太阳模拟器简化为关节机器人,利用D-H法得到灯单元反向运动学参数,进而完成光斑自动对焦系统设计,对光斑自动对焦系统进行了简单实验。结果表明:多光源太阳模拟器聚焦光斑中心对焦精度误差在1mm以内,可以满足预期的太阳模拟器实验需求。 展开更多
关键词 太阳模拟器 光斑 自动对焦 机器视觉 机器人
Smart gas sensor arrays powered by artificial intelligence 预览
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作者 Zhesi Chen Zhuo Chen +2 位作者 Zhilong Song Wenhao Ye Zhiyong Fan 《半导体学报:英文版》 EI CAS CSCD 2019年第11期3-12,共10页
Mobile robots behaving as humans should possess multifunctional flexible sensing systems including vision,hearing,touch,smell,and taste.A gas sensor array(GSA),also known as electronic nose,is a possible solution for ... Mobile robots behaving as humans should possess multifunctional flexible sensing systems including vision,hearing,touch,smell,and taste.A gas sensor array(GSA),also known as electronic nose,is a possible solution for a robotic olfactory system that can detect and discriminate a wide variety of gas molecules.Artificial intelligence(AI)applied to an electronic nose involves a diverse set of machine learning algorithms which can generate a smell print by analyzing the signal pattern from the GSA.A combination of GSA and AI algorithms can empower intelligent robots with great capabilities in many areas such as environmental monitoring,gas leakage detection,food and beverage production and storage,and especially disease diagnosis through detection of different types and concentrations of target gases with the advantages of portability,low-powerconsumption and ease-of-operation.It is exciting to envisage robots equipped with a"nose"acting as family doctor who will guard every family member's health and keep their home safe.In this review,we give a summary of the state-of the-art research progress in the fabrication techniques for GSAs and typical algorithms employed in artificial olfactory systems,exploring their potential applications in disease diagnosis,environmental monitoring,and explosive detection.We also discuss the key limitations of gas sensor units and their possible solutions.Finally,we present the outlook of GSAs over the horizon of smart homes and cities. 展开更多
关键词 mobile robots gas sensor array electronic nose artificial intelligence environmental monitoring disease diagnosis
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基于TCP/IP协议的管道内行走机器人设计 预览 被引量:1
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作者 石磊 《黑河学院学报》 2019年第1期208-209,共2页
TCP/IP协议运行控制环境的管道内行走机器人设计需要考虑多方面技术及管理等要素,对于机器人控制使用效益要求较高,后续阶段应在技术管理及研发方面给予实际重视。根据TCP/IP协议管道内行走机器人设计特点,对其相关操作设计内容及端口... TCP/IP协议运行控制环境的管道内行走机器人设计需要考虑多方面技术及管理等要素,对于机器人控制使用效益要求较高,后续阶段应在技术管理及研发方面给予实际重视。根据TCP/IP协议管道内行走机器人设计特点,对其相关操作设计内容及端口连接等诸多方面进行深入阐述,为管道内行走机器人设计更好的运用TCP/IP协议进行控制管理提供理论参考。 展开更多
关键词 TCP/IP 协议 管道 行走 机器人 设计
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Attention shifting during child–robot interaction:a preliminary clinical study for children with autism spectrum disorder
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作者 Guo-binWAN Fu-haoDENG +10 位作者 Zi-jianJIANG Sheng-zhaoLIN Cheng-lianZHAO Bo-xunLIU GongCHEN Shen-hongCHEN Xiao-hongCAI Hao-boWANG Li-pingLI TingYAN Jia-ming ZHANG 《信息与电子工程前沿:英文版》 SCIE EI CSCD 2019年第3期374-387,共14页
There is an increasing need to introduce socially interactive robots as a means of assistance in autism spectrum disorder(ASD) treatment and rehabilitation, to improve the effectiveness of rehabilitation training and ... There is an increasing need to introduce socially interactive robots as a means of assistance in autism spectrum disorder(ASD) treatment and rehabilitation, to improve the effectiveness of rehabilitation training and the diversification of treatment, and to alleviate the shortage of medical personnel in mainland China and other places in the world. In this preliminary clinical study, three different socially interactive robots with different appearances and functionalities were tested in therapy-like settings in four different rehabilitation facilities/institutions in Shenzhen, China. Seventy-four participants, including 52 children with ASD, whose processes of interacting with robots were recorded by three different cameras, all received a single-session three-robot intervention. Data were collected from not only the videos recorded, but also the questionnaires filled mostly by parents of the participants. Some insights from the preliminary results were obtained. These can contribute to the research on physical robo it design and evaluations on robots in therapy-like settings. First, when doing physical robot design, some preferential focus should be on aspects of appearances and functionalities. Second, attention analysis using algorithms such as estimation of the directions of gaze and head posture of a child in the video clips can be adopted to quantitatively measure the prosocial behaviors and actions(e.g., attention shifting from one particular robot to other robots) of the children. Third, observing and calculating the frequency of the time children spend on exploring/playing with the robots in the video clips can be adopted to qualitatively analyze such behaviors and actions. Limitations of the present study are also presented. 展开更多
关键词 Human-robot INTERACTION Robot-enhanced therapy Socially INTERACTIVE ROBOTS Robot-mediated INTERVENTION
颗粒增强材料喷涂机器人的运动轨迹规划研究 预览
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作者 张萍 《机械设计与制造工程》 2019年第11期18-22,共5页
为避免人工势场(APF)算法陷入震荡和局部极小值,将萤火虫算法(FA)引入人工势场算法,利用FA的寻优特性进行颗粒增强材料喷涂机器人的运动路径规划。首先,将颗粒增强材料喷涂机器人的路径规划问题转化为当前机器人位置寻优的过程,并建立... 为避免人工势场(APF)算法陷入震荡和局部极小值,将萤火虫算法(FA)引入人工势场算法,利用FA的寻优特性进行颗粒增强材料喷涂机器人的运动路径规划。首先,将颗粒增强材料喷涂机器人的路径规划问题转化为当前机器人位置寻优的过程,并建立相应的数学模型;其次,根据障碍物分布和是否陷入局部最小值或者震荡等情况,对颗粒增强材料喷涂机器人的路径规划采用不同策略,通过FA搜索梯度方向上最优解,从而绕过障碍物或逃逸实现路径的最优规划。仿真结果表明,该算法易于找出最优路径并避免震荡,可以进行运动轨迹的实时规划。 展开更多
关键词 萤火虫算法 人工势场算法 栅格法 机器人 轨迹规划
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高科技产业B2B平台商业模式研究——以机器人为例 预览
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作者 李学迁 边伟秀 《物流科技》 2019年第3期49-52,共4页
在智能制造和“互联网+”背景下,机器人行业传统的以集成商为中心的商业模式面临着转型。文章首先利用案例分析法研究国内外四个机器人B2B平台的商业模式,然后总结出不同平台的异同点,最后提出以社群为核心和以金融为核心的机器人B2B平... 在智能制造和“互联网+”背景下,机器人行业传统的以集成商为中心的商业模式面临着转型。文章首先利用案例分析法研究国内外四个机器人B2B平台的商业模式,然后总结出不同平台的异同点,最后提出以社群为核心和以金融为核心的机器人B2B平台新模式,旨在为机器人行业和其它高科技行业B2B平台的创新发展提出参考建议。 展开更多
关键词 机器人 B2B 商业模式
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自动擦窗机器人系统设计 预览
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作者 郭韶山 陈洋 +2 位作者 张慎云 童瑞晗 温博 《南通职业大学学报》 2019年第1期69-75,共7页
随着现代都市中建筑楼层的日益增高,玻璃窗清洗的难度与危险程度大大增加。为解决传统的人工清洁玻璃方式中安全隐患大、效率低、存在清洁死角等问题,设计了一款全自动家用擦窗机器人:以51单片机为主芯片,设置两台直流减速电机带动履带... 随着现代都市中建筑楼层的日益增高,玻璃窗清洗的难度与危险程度大大增加。为解决传统的人工清洁玻璃方式中安全隐患大、效率低、存在清洁死角等问题,设计了一款全自动家用擦窗机器人:以51单片机为主芯片,设置两台直流减速电机带动履带,实现机器人在玻璃上前进、后退和转向功能;选取一台微型真空泵配合负压吸盘,保证机器吸附在玻璃上;设计一组微动开关,使机器人在接触到窗框时,向主芯片提供信号;给出了擦窗机器人的机构设计和电路控制系统设计。行驶稳定性试验表明,该擦窗机器人吸附稳定、移动灵活,可实现智能清洁玻璃的功能。 展开更多
关键词 自动擦窗 机器人 直流减速电机 负压吸附
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