共查询到18条相似文献,搜索用时 125 毫秒
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在角膜移植手术机器人系统的设计过程中,为满足各节点对信息交换的实时性、可扩展性、灵活性、可靠性的要求,选用了CAN总线作为系统信息传输的通道,在此基础上设计了角膜移植手术机器人的控制系统,重点介绍了基于80C592芯片的节点硬件设计、软件设计及CAN通信的实现。实验证明这是一种可靠的控制方案,保证了系统的安全性和可靠性,简化了控制系统的复杂性。 相似文献
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本文结合机器人发展的不同时期所采用的不同体系结构,提出了一种基于多DSP并行处理的多机器人混合体系结构。该结构应用DSP硬件来支撑多机器人混合体系结构,以减少该体系结构的设计时间,保证其通用性、实时性和可靠性。通过对已有的几种不同体系结构的实验数据对比,说明了该体系结构的优越性,也为多机器人协作与控制系统的设计提供了理论基础。 相似文献
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孙乃文 《机器人技术与应用》1995,(1):14-15
创建于1957年的德国莱斯(Reis)公司,早年主要从事模具研配机、压机及铸造自动化机械的制造。1973年,为适应铸造自动化生产的需要而开始其第一台五轴机器人的设计,由此跻身于工业机器人制造行列,逐步开始研制并生产各种不同用途的工业机器人。目前该公司已发展成为一家能生产十八种不同用途的工业机器人、用户遍及世界各地的专业化机器人公司。 机器人作为一种高技术产品,其质量、性能与可靠性的高低是决定其能否获得广泛的工业化应用的关键,因此莱斯机器人从设计、制造到组装测试均采取一流的质量控制措施。首先从设计上,机器人机械部件全部采用有限元最优 相似文献
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针对现有的煤矿巷道轮式或履带式巡检机器人结构及控制复杂、可靠性低,轨道式巡检机器人成本高、占用巷道空间资源等问题,设计了一种不受井下巷道复杂地理环境和人员及设备分布影响的煤矿巷道悬线巡检机器人。重点介绍了该机器人的结构设计,在ADAMS软件中建立了机器人虚拟样机模型,并对其水平行走且过障、上坡且过障、下坡且过障3种运动状态进行了仿真分析。结果表明:该机器人在水平沿线方向始终能够保持匀速直线运动;在竖直方向和水平侧摆方向上有波动,但均在允许范围之内;在3种运动状态下的位移变化比较平稳。仿真结果验证了该机器人结构设计的合理性。 相似文献
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Manipulator design methodology is a recent and important issue in the robot design research area. Most importantly, to design
a robot rationally, one must have a strong understanding of the design parameters of the manipulator, and of the characteristics
of the robot relative to its kinematical and dynamical requirements. Development of a robot capable of fast movements or high
payloads is progressed by the analysis of dynamic characteristics, DOF positioning, actuator selection, structure of links,
and so on.
This paper highlights the design of a robot manipulator scaled down from its final form, when it will passively be handled
by a human for man-machine cooperation. The requirements of the system include its having 6-DOF and the capacity for a high
payload in the condition of its maximum reach. The primary investigation factors are motion range, performance within the
motion area, and reliability during the handling of heavy materials. Traditionally, the mechanical design of robots has been
viewed as a problem of packaging motors and electronics into a reasonable structure. This process usually transpires with
heavy reliance on designer experience. Not surprisingly, the traditional design process contains no formally defined rules
for achieving desirable results, as there is little opportunity for quantitative feedback during the formative stages. This
work primarily focuses on the selection of proper joint types and link lengths, considering a specific task type and motion
requirements of the curtain wall installation process in the construction site based on the result of experiment of proto
type system of this study. 相似文献
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Improvement of 3P and 6R mechanical robots reliability and quality applying FMEA and QFD approaches 总被引:1,自引:0,他引:1
In the past few years, extending usage of robotic systems has increased the importance of robot reliability and quality. To improve the robot reliability and quality by applying standard approaches such as Failure Mode and Effect Analysis (FMEA) and Quality Function Deployment (QFD) during the design of robot is necessary. FMEA is a qualitative method which determines the critical failure modes in robot design. In this method Risk Priority Number is used to sort failures with respect to critical situation. Two examples of mechanical robots are analyzed by using this method and critical failure modes are determined for each robot. Corrective actions are proposed for critical items to modify robots reliability and reduce their risks. Finally by using QFD, quality of these robots is improved according to the customers’ requirements. In this method by making four matrixes, optimum values for all technical parameters are determined and the final product has the desired quality. 相似文献
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介绍了国内排水管道现状及检测与维护情况,针对排水管道机器人特殊的作业环境,设计了一种基于LabWindows/CVI的排水管道机器人测控系统。该系统以PLC为核心,采用电涡流位移传感器与摄像头结合检测管道缺陷,引入模糊控制算法,增强了系统的鲁棒性和可靠性。通过基于LabWindows/CVI虚拟仪器设计的上位机软件与下位机PLC实时通信,实现了系统对机器人动作的控制,以及数据的采集、处理、存储、显示等功能。整个系统人机交互简单、抗干扰性强、可靠性好,可满足机器人作业时的清理和检测要求。 相似文献
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《Advanced Robotics》2013,27(5):477-495
Advanced robots for nuclear power plant maintenance are complex compared with industrial robots, and are subjected to severe conditions during use. The importance of their safety and reliability is increasing. In this paper, the Functional Fail-Safe Control (FFC) is described as a high reliability technology for an Advanced Robot. FFC isolates faults, and maintains the minimum functions of the robot; it uses the remaining potential redundancy of the robot, and minimizes the number of additional parts needed for the robot when faults occur. We will outline the three Reliability Evaluation Principles for Advanced Robots, then define the FFC using these principles. In the proposed FFC, the method of using an amplifier between two shared servo systems, and the method of stacking the degrees of freedom of the robot as a fail-safe device were studied and proven by experiments on the design of the FFC. A new design method is shown which optimizes use of time and work covered. Thus, we have clarified some remaining topics that must be developed for FFC. 相似文献
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CANopen是一种基于CAN总线的应用层协议,采用了面向对象的设计思想,具有很好的模块化特性和很高的适应性.本文为了在原有的移动机器人基础上扩展嗅觉导航功能,设计了一种基于CANopen协议的传感器数据采集模块,该模块可以作为CANopen从站与机器人主站通信,满足机器人控制系统扩展的可靠性与灵活性.本设计采用飞思卡尔单片机MC9S12XS128作为主控芯片,通过AD口采集气体传感器数据,在单片机上移植CANopen开源协议栈,给出了CanFestival在单片机上的实现.经过测试,模块能够与机器人通过CAN总线正确通信,完成数据采集功能. 相似文献
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为了实现移动机器人运行过程状态数据的可视化,以面向对象的C++编程语言,设计了一款基于跨平台的Qt图形库框架的上位机监测软件。该软件对接收到的状态数据进行解码、分离并绘制移动机器人实时运行轨迹和状态信息波形曲线等功能。首先概述了自行设计搭建的移动机器人硬件平台的结构和原理以及软件的实现流程;然后简要介绍了上位机软件的开发环境,并阐述了软件的各项功能以及其设计与实现过程;最后以移动机器人路径跟踪运动控制作为实验对象,验证了所设计上位机软件的有效性。 相似文献
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具有实时性保障的INTERNET机器人控制系统设计方法 总被引:3,自引:1,他引:3
本文提出了一种具有实时性、可靠性保障的INTERNET网络机器人控制系统的设计方法. 基于
该方法设计的网络实时控制系统能够满足机器人实时、高效、灵活的技术特点.该方法的核
心为基于UDP传输协议的网络数据补偿算法,通过对网络传输过程中丢失的数据进行实时在
线补偿预测,降低了网络数据的丢失对系统的影响.实验结果证明该方法的有效性、合理性
. 相似文献
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易艳丽 《计算机测量与控制》2023,31(8):142-147
结合数据融合技术与无线传输技术,提出了一种基于传感器融合的机器人远程控制系统设计方法。机器人端采用FMCE毫米波雷达与摄像机进行多传感器融合,机器人端与远程PC端采用局域网进行通信,本地PC端对机器人进行远程控制时功能主要有两个,第一个是根据现场作业环境实时控制机器人移动,第二个是在PC端选择目标对象后让机器人生成行驶路径后自动跟踪目标对象,路径跟踪控制器采用的是线性二次型调节器(LQR),这种基于传感器融合的机器人远程控制系统设计方法,具有高效、智能、可靠、精确等优点,可以应用于各种需要机器人协助完成的任务中,如无人巡检、智能交通等领域。 相似文献