基于视觉的工业机器人离线编程系统的设计

针对传统离线编程系统通用性差、可靠性低和二次开发难度大等问题,开发一套基于机器视觉的工业机器人离线编程系统。基于模块化思想,将该系统划分为机器视觉模块、虚拟环境模块、运动学模块、轨迹规划模块、离线程序模块和外部通信模块。借助机器视觉模块解构视觉系统与机器人末端位姿的坐标映射关系,得到规划机器人运动所需的位姿数据;基于虚拟现实建模语言构建机器人虚拟仿真环境,基于运动学模块与轨迹规划模块将位姿数据转化为机器人的作业〖JP2〗指令;基于离线程序模块与外部通信模块实现控制器指令与虚拟仿真环境的无缝衔接。最后,以一种六轴工业机器人为测试对象验证了该离线编程系统的基本功能。实验结果表明:该系统定位误差最大为0.4 mm,精度高,可满足工业应用需求。     

机器人弧焊成形系统中离线自动编程

目前的机器人离线编程系统大多采用图形示教方式建立机器人运动路径,然而这种编程方式对于复杂路径来说工作量仍是相当大的,而且对于路径规划直接计算得出的机器人位置数据及弧焊操作指令无法方便地形成机器人程序(relative job,JOB).文中以弧焊机器人为对象进行了离线自动编程的研究.利用MOTOMAN机器人的相对JOB数据交换格式,实现了MOTOMAN机器人相对JOB的离线自动编程,自动生成机器人程序.离线自动编程模块通过ODBC接口从弧焊成形系统中相应的规划数据库取得指令代码及数据,充分发挥数据库的优势,有利于离线编程系统的扩展.结果表明,研究的离线编程运行稳定,机器人动作连贯,焊接路径与设计吻合.     

弧焊机器人MOTOMAN—UP20离线编程系统

弧焊机器人离线编程系统(Offline-Programming system for Arc Welding Robot)是目前机器人研究领域最活跃、最前沿的研究方向.介绍了国内外弧焊机器人离线编程系统的发展现状和发展趋势.以Motoman-UP20弧焊机器人为例,集成了机器人通信模块MOTOCOM32和运动学仿真模块ROTSY并同步导入马鞍形工件,不仅能单步生成作业指令,且可自动生成作业程序,并对焊接过程进行了离线仿真试验,验证该系统切实可行.此外介绍了弧焊机器人离线编程系统的构成.     

基于VC＋＋的弧焊机器人离线编程系统设计

针对MOTOMAN-UP系列机器人,在PC机的Windows平台上利用VC++开发了弧焊机器人离线编程系统.介绍了该系统的组成、功能及其设计方法.该系统能对任意马鞍形工件规划出焊枪的运动路径与姿态,且按比例同步显示工件;集成了机器人通信模块和运动学仿真模块,并自动导入工件,不仅能单步生成作业指令,而且可自动生成作业文件;采用OpenGL技术建立三维工件模型,实现工件的显示、旋转、缩放等功能.通过以太网,对PC机中的作业程序和机器人控制器中的作业程序进行相互传输,实现了弧焊机器人的离线编程及远程控制.     

弧焊机器人离线编程系统

针对SK6弧焊机器人设计研究了弧焊机器人离线编程系统（A WOPS）,该系统由几何特征提取及建模模块、焊接姿态规划模块、焊接参数规划模块、机器人程序自动生成模块、机器人仿真及通讯模块等6个模块组成。系统人机界面友好,并引入了智能化专家知识,系统自动化程度较高,本文对日文较件MRCWORD进行了探索性二次开发,实现了弧焊机器人离线仿真及焊枪与工件构建和计算机与机器人通讯的功能。对典型的焊缝（马鞍型）进行了实焊验证。结果表明,该系统是可行的,编程的效率显著提高,焊缝内外在质量优良。     

MOTOMAN-UP系列机器人离线编程系统

采用VISUAL C 6.0及OpenGL技术开发了MOTOMAN-UP系列弧焊机器人离线编程系统.建立了MOTOMAN-UP系列机器人D-H坐标系及连杆参数表,编写了运动学逆解模块;针对典型马鞍形工件的特点,规划出焊枪的运动路径与姿态,且按比例同步显示工件;集成了机器人通信模块MOTOCOM32和运动学仿真模块ROTSY并同步导入马鞍形工件,不仅能单步生成作业指令,且可自动生成作业程序.通过对焊接过程进行离线仿真试验及传输作业实焊,验证该系统是切实可行的.     

通用机器人离线编程仿真平台设计

针对国内机器人离线编程仿真平台支持语言范围小，机器人控制功能不完善等问题设计出一套可以支持多种机器人编程语言与机器人结构的通用机器人离线编程仿真平台架构。基于模块化的思想，将该系统划分为两大主要模块，分别是用于解析机器人语言代码的语言解析模块与用于控制与模拟机器人运动的机器人仿真模块。基于语言解析模块识别机器人编程语言代码，并将机器人的程序语言代码解析为用于控制机器人运动的指令数据。基于机器人仿真模块实现机器人正向控制、逆向控制、轨迹规划与三维图形绘制。最后利用Qt为平台开发基础框架，实现代码的编辑，嵌入Bullet物理引擎构造机器人的相关参数，嵌入OpenScenceGraph三维图形引擎将物理场景中的信息以图形的方式绘制在Qt提供的显示界面上，并以一段Rapid语言代码与一种通用的六轴机器人为实验对象验证了平台的基本功能。实验结果表明，该平台能够准确的将语言代码转换为指令数据，并能控制机器人进行相应的轨迹运动，满足机器人离线编程需求。     

基于MATLAB的机器人涂胶离线仿真与编程研究

针对机器人手动示教存在的精度不稳定、编程时间长、机器人工作效率低的问题，研究基于MATLAB的离线仿真系统。采用MATLAB编程实现了机器人三维模型的控制和仿真，解析获得机械臂在实际工作时的控制语言，生成相应的控制程序从而实现虚拟和现实中六自由度机器人的控制。最后，以电芯涂胶工作单元作为原型来搭建相应的虚拟工作环境，并在实际中以库卡公司的KR16验证离线仿真系统的有效性，证明该系统可以出色完成涂胶任务。     

基于结构安全的HP6机器人离线编程方法

提出一种用于对HP6机器人实行离线编程操作的新方法,可按给定轨迹进行运动仿真,并通过调整改善关节承载状况,在不改变既定轨迹和运动位姿条件下生成相应的离线编程程序代码,实现了机器人在结构安全条件下的轨迹规划和离线编程,并给出了应用实例.     

基于UG的弧焊机器人离线编程系统开发

针对KUKA KR30L16型6自由度焊接机器人,应用UG/Open二次开发函数和C++编程语言,进行了基于UG可视化平台的离线编程系统开发,实现了焊接机器人系统和常用焊接工件的三维建模及组装、运动学求解、焊接轨迹规划、运动路径仿真与检测、焊接控制程序自动生成等功能。详细探讨了系统开发中的关键技术问题。仿真检测与试验结果表明,所开发的离线编程系统能够满足车间常用工件焊接的离线编程要求,提高了焊接生产效率。     

Effects of Post-weld Heat Treatment on Microstructure,Mechanical Properties and the Role of Weld Reinforcement in 2219 Aluminum Alloy TIG-Welded Joints

In as-welded state, each region of 2219 aluminum alloy TIG-welded joint shows diff erent microstructure and microhardness due to the diff erent welding heat cycles and the resulting evolution of second phases. After the post-weld heat treatment, both the amount and the size of the eutectic structure or θ phases decreased. Correspondingly, both the Cu content in α-Al matrix and the microhardness increased to a similar level in each region of the joint, and the tensile strength of the entire joint was greatly improved. Post-weld heat treatment played the role of solid solution strengthening and aging strengthening. After the post-weld heat treatment, the weld performance became similar to other regions, but weld reinforcements lost their reinforcing eff ect on the weld and their existence was more of an adverse eff ect. The joint without weld reinforcements after the post-weld heat treatment had the optimal tensile properties, and the specimens randomly crack in the weld zone.     

The First Phase of the SRIF Industrialized Base in ＂West Area＂ Has Been Put into Operation

After nearly two years＇ tense construction, the first phase of industrialized base of Shenyang Research Institute of Foundry （SRIF）, located at the Tiexi Casting and Forging Industrial Park in the west of Tiexi District, has now been completed and formally put into operation.     

新型的治疗阿尔茨海默氏症药物(1-二甲基磷酰基-2,2,2-三氯)-乙基-1-醇烟酸醋对体外神经细胞的作用

目的: 观察本实验室合成的一种治疗阿尔茨海默氏症(AD)的药物(1-二甲基磷酰基-2, 2, 2 -三氯)-乙基^-1-醇烟酸醋(NMF),对体外培养的皮层神经细胞活性的影响以及对海人藻酸(KA)所致的神经损伤的保护作用。方法: 采用体外培养皮层神经元的方法,解剖分离 15 d胚胎小鼠皮层神经细胞, 接种于 96孔板,48 h 后加药并培养 72 h,以 MIT 法 观察 NMF 对小鼠皮层神经细胞活性的影响;同时将接种于 24 孔板的细胞预先给予 NMF,d 3 时加或不加KA处理后,以台盼蓝染色鉴别并计数死、活细胞,可得出细胞的存活率。结果: NMF 明显促进胎鼠皮层神经元活性,其中 NMF1、0. 1、10nmol·L^-1促进神经元活性增殖率分别高达 34.7%、37.4%、36. 7%, NMF 明显促进正常胎鼠皮层神经元存活卒,与对照组比较,10nmol·L^-1 NMF 对皮层神经元的存活率分别提高 39.3%、73.5%。 NMF能显著 对抗 KA 所致的神经元损伤,与 KA 损伤组相比, NMF0.1、10、10nmol·L^-1对损伤皮层神经元的保护率分别为 77.30%、80.10%、84.15%。结论: NMF 明 显促进胎鼠皮层神经元的洁性、提高正常皮层神经元,的存活卒,并能有效地保护KA所致的神经元损伤,提示 NMF 是一种很有潜力的治疗 AD 的药物。     

Three-Dimensional Growth of Coherent Ferrite in Austenite: A Molecular Dynamics Study

Coherent second phase often exhibits anisotropic morphology with specifi c orientations with respect to both the second and the matrix phases. As a key feature of microstructure, the morphology of the coherent particles is essential for understanding the second-phase strengthening eff ect in various industrial alloys. This letter reports anisotropic growth of coherent ferrite from austenite matrix in pure iron based on molecular dynamics simulation. We found that the ferrite grain tends to grow into an elongated plate-like shape, independent of its initial confi guration. The fi nal shape of the ferrite is closely related to the misfi t between the two phases, with the longest direction and the broad facet of the plate being, respectively, consistent with the best matching direction and the best matching plane calculated via the Burgers vector content(BVC) method. The strain energy calculation in the framework of Eshelby's inclusion theory verifi es that the simulated orientation of the coherent ferrite is energetically favorable. It is anticipated that the BVC method will be applicable in analysis of anisotropic growth and morphology of coherent second phase in other phase transformation systems.     

Effect of Rare Earth Doping on Impedance,Modulus and Conductivity Properties of Multiferroic Composites:0.5(BiLa_xFe_(1-x)O_3)–0.5(PbTiO_3)

The Lanthanum-doped bismuth ferrite–lead titanate compositions of 0.5(Bi LaxFe1-xO3)–0.5(Pb Ti O3)(x = 0.05,0.10,0.15,0.20)(BLxF1-x-PT) were prepared by mixed oxide method.Structural characterization was performed by X-ray diffraction and shows a tetragonal structure at room temperature.The lattice parameter c/a ratio decreases with increasing of La(x = 0.05–0.20) concentration of the composites.The effect of charge carrier/ion hopping mechanism,conductivity,relaxation process and impedance parameters was studied using an impedance analyzer in a wide frequency range(102–106Hz) at different temperatures.The nature of Nyquist plot confirms the presence of bulk effects only,and non-Debye type of relaxation processes occurs in the composites.The electrical modulus exhibits an important role of the hopping mechanism in the electrical transport process of the materials.The ac conductivity and dc conductivity of the materials were studied,and the activation energy found to be 0.81,0.77,0.76 and 0.74 e V for all compositions of x = 0.05–0.20 at different temperatures(200–300 °C).     

Quantitative Analysis of the Crystallographic Orientation Relationship Between the Martensite and Austenite in Quenching–Partitioning–Tempering Steels

The orientation relationships(ORs)between the martensite and the retained austenite in low-and medium-carbon steels after quenching–partitioning–tempering process were studied in this work.The ORs in the studied steels are identified by selected-area electron diffraction(SAED)as either K–S or N–W ORs.Meanwhile,the ORs were also studied based on numerical fitting of electron backscatter diffraction data method suggested by Miyamoto.The simulated K–S and N–W ORs in the low-index directions generally do not well coincide with the experimental pole figure,which may be attributed to both the orientation spread from the ideal variant orientations and high symmetry of the low-index directions.However,the simulated results coincide well with experimental pole figures in the high-index directions{123}_(bcc).A modified method with simplicity based on Miyamoto’s work was proposed.The results indicate that the ORs determined by modified method are similar to those determined by Miyamoto’method,that is,the OR is near K–S OR for the low-carbon Q–P–T steel,and with the increase of carbon content,the OR is closer to N–W OR in medium-carbon Q–P–T steel.     

Effect of Short-Time Aging on the Pitting Corrosion Behavior of a Novel Lean Duplex Stainless Steel 2002

The effect of short-time aging in the temperature range between 400 and 1000 °C on the pitting corrosion behavior and mechanical property of a novel lean duplex stainless steel(LDSS) 2002 was investigated through the potentiostatic critical pitting temperature(CPT) tests and the Charpy impact tests. Both the pitting corrosion resistance and the toughness of aged specimens degraded due to the precipitation of detrimental secondary phases and the most significant reduction of CPT and impact energy emerged at 650 °C concurrently. The CPT of LDSS 2002 specimen aged at 650 °C decreased by 28 °C, and the impact energy dropped from 69 to 29 J/cm~2 compared with the solution-annealed sample. Transmission electron microscopy characterization showed that the main precipitates in LDSS 2002 were Cr_2N and M_(23)C_6 along the ferrite–austenite grain boundaries.     

Information for Contributors

正The Transactions of Nonferrous Metals Society of China,founded in 1991 and sponsored by The Nonferrous Metals Society of China,is published monthly now and mainly contains reports of original research which reflect the new progresses in the field of nonferrous metals science and technology,including mineral processing,extraction metallurgy,metallic materials and heat treatments,metal working,physical metallurgy,powder metallurgy,with the emphasis     

Preface

<正>We are pleased to present this Special Issue of Transactions of Nonferrous Metals Society of China containing selected papers from the First Asian Conference on Aluminum Alloys(ACAA-2013),held in Beijing,China,13–17 October 2013.This conference has been initiated,with approval of     

Information for Contributors

The Transactions of Nonferrous Metals Society of China, founded in 1991 and sponsored by The Nonferrous Metals Society of China, is published monthly now and mainly contains reports of original research which reflect the new progresses in the field of nonferrous metals science and technology, including mineral processing, extraction metallurgy, metallic materials and heat treatments, metal working, physical metallurgy, powder metallurgy, with the emphasis on fundamental science. It is the unique preeminent publication in English for scientists, engineers, under/post-graduates on the field of nonferrous metals industry. This journal is covered by many famous abstract/index systems and databases such as SCI Expanded, Ei Compendex Plus, 1NSPEC, CA, METADEX, AJ and JICST.