共查询到19条相似文献,搜索用时 500 毫秒
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一种短小丝条状物连续包装自动充填与计量机械手的研究 总被引:3,自引:3,他引:0
机械手是一气动系统,X轴气缸实现机械手的水平往复运动,通过PLC控制方向阀和两位两通阀的协调动作,实现多级速度调节;y轴气缸实现机械手的竖直往复运动,通过PLC、编码器、光电开关、接近开关和高速开关阀,实现机械手竖直往复运动的开环与闭环控制,满足速度和精度要求;机械手手指驱动缸实现机械手抓料和卸料运动;单片机应用系统实现机械手抓取物料重量的自动计量.试验结果表明:机械手y轴定位精度2mm,一个工作循环5.8s,满足控制指标要求. 相似文献
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为提高复合材料预制件缝合机器人的灵活性与加工柔性,针对缝合机器人自动路径规划问题,研究了基于三维光栅扫描技术的曲面复合材料缝合机器人视觉接缝提取技术.针对三维扫描摄像机视场固定的特点,对摄像机进行标定实验,改进传统的手眼标定方法,提出一种用于求解手眼关系矩阵的四点标定新方法,建立了机器人坐标系与摄像机坐标系的位姿映射关系.经过手眼关系标定,三维光栅扫描仪采样得到的缝合预制件点云数据可转化为机器人坐标系下的点云数据坐标.进一步对采集的预制件点云数据进行接缝中心线提取,提出了一种缝合轨迹及姿态规划算法,采用三次多项式对接缝中心线进行空间曲线拟合,采用最小二乘法对缝合微切平面进行平面拟合,完成机器人操作空间前进矢量及接近矢量的计算.最后,将规划结果应用于缝合机器人的离线编程仿真与实验中.实验结果表明,该系统精度高,线迹成型良好,可以满足机器人缝合系统的要求. 相似文献
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本文研究涡流接近开关的工作机理,将其构建测量齿轮线速度的测试系统.为了提高测试系统整体可靠性,采用了先将传感器接上拉电阻再将其经由光电隔离后输出的实现方法.归纳了影响其输出波形可靠性的重要因素.利用最小二乘法对获得的接近开关输出波形频率与齿轮线速度的试验曲线进行曲线拟合,得到它们的输出结果.实验和仿真研究说明,为了提高涡流接近开关输出波形的可靠性,需要合理选取上拉电阻值、选择合理的光电隔离器件,确保速度测试系统的准确性和可靠性. 相似文献
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设计了一种全新的钢卷尺自动切零位系统.本系统以基于视频分划技术的动态瞄准取代传统的人眼瞄准,实现钢卷尺切零位全过程自动化.动态瞄准包括位置识别、动态扫描和自动瞄准三方面内容.本系统使用基于单轴数控系统和单片机的双控制器结构,通过互相通信方式协调切零位工作,从而解决了目前钢卷尺切零系统速度慢、精度低、劳动强度高的缺陷.本系统切带速度为2~3 s/条,切带精度为0.1 mm. 相似文献
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为了提高光电测量系统对火炮重要静态参数——弯曲度的测量精度,提出了一种基于同心圆现场定标的实时畸变校正方法,并设计了一套自定中测量装置.首先调整测量装置中靶标的水平和竖直定位,消除偏心畸变;然后采用曲率估计的方法实时提取现场标定同心圆,对光学系统的畸变变化情况进行检测;最后根据检测对弯曲度的测量结果进行校正,进而实现弯曲的高精度测量.对焦距为6.00mm的弯曲度测量系统进行多点测试,实验结果表明:该方法具有较强的稳定性,校正精度高且实时性好,与传统的校正方法相比,校正后的测量偏差由士0.15mm提高到±0.05 mm,且单点校正时间小于0.49 s,有效地提高了系统的测量精度. 相似文献
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三轴直角结构光电导引平台的捷联控制 总被引:1,自引:0,他引:1
结合三轴直角框架结构的光电导引系统消除视线扰动的问题,给出了弹体扰动角速率和框架电机角速率转换到视线坐标系的转换公式,同时采用三轴直接补偿方式消除弹体扰动的影响,构成内回路角速率稳定控制器.进而导出了基于非线性逆动力学和PID控制器组合的外回路角速率跟踪控制器,使得光电导引系统在消除扰动的同时跟踪输入指令角速率信号.最后采用Matlab对稳定回路和跟踪回路进行了仿真,仿真结果表明,系统角速率稳定的解耦精度为1%,角速率跟踪的响应调节时间小于0.1s. 相似文献
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Richard Mann Robin Freeman Michael Osborne Roman Garnett Chris Armstrong Jessica Meade Dora Biro Tim Guilford Stephen Roberts 《Journal of the Royal Society Interface》2011,8(55):210-219
Pigeons home along idiosyncratic habitual routes from familiar locations. It has been suggested that memorized visual landmarks underpin this route learning. However, the inability to experimentally alter the landscape on large scales has hindered the discovery of the particular features to which birds attend. Here, we present a method for objectively classifying the most informative regions of animal paths. We apply this method to flight trajectories from homing pigeons to identify probable locations of salient visual landmarks. We construct and apply a Gaussian process model of flight trajectory generation for pigeons trained to home from specific release sites. The model shows increasing predictive power as the birds become familiar with the sites, mirroring the animal''s learning process. We subsequently find that the most informative elements of the flight trajectories coincide with landscape features that have previously been suggested as important components of the homing task. 相似文献
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为了提高割草机器人的工作效率及环境适应能力,基于移动机器人平台设计了一种既受遥控操作又能自主运行的适用于大型机场草坪作业的割草机器人。首先,运用高精度差分GPS(global positioning system,全球定位系统)采集机场草坪边界和障碍物的位置信息,根据采集的信息将机场草坪分为最少数目的凸多边形工作区域;考虑到割草机器人无法原地无半径转弯,在传统迂回式路径规划算法的基础上提出一种往返直线型路径规划算法,并在凸多边形路径规划区内推导出遍历路径的显示方程表达式。其次,运用高精度差分GPS测得割草机器人实际轨迹并与规划轨迹对比,设计了一种区间判断型轨迹纠偏算法;以执行电机的PID(proportion integration differentiation,比例积分微分)控制和区间判断型轨迹纠偏算法构造割草机器人双闭环轨迹跟踪控制器,对按传统迂回式路径和往返直线型路径行进的割草机器人进行轨迹跟踪仿真分析。最后,以自制的割草机器人为例,按往返直线型路径运行方式进行样机实验。仿真结果发现:当割草机器人跟踪当前路径到达终点后会自动调头跟踪下一条路径,验证了轨迹跟踪算法的稳定性;传统迂回式路径运行方式下割草机器人的漏割率较高,达到46.42%,而往返直线型路径运行方式下其漏割率为7.15%,明显优于传统迂回式路径仿真结果。样机实验测得的漏割率为8.89%,与仿真实验结果一致,表明所设计的轨迹跟踪算法对大型机场草坪作业割草机器人是适用的。研究结果可为大型机场草坪割草机器人的开发提供理论指导。 相似文献
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YANG Yan 《国际设备工程与管理》2018,(1)
As modern society is developing rapidly,the robots in our lives as well as industrial manufacturing and other aspects have occupied an important position. Requirements for the robot control and accuracy are getting higher and higher,and the dynamic control of the robot has thus been getting the better development. The dynamic problem of the robot is helpful to keep the dynamic characteristics and static characteristics of the robot,which is of great significance to the control problem of the robot. In the process of dynamic analysis of the three-link robot,the system model of the three-link robot is simplified accordingly,and then the classical Lagrangian functional equilibrium method is used to derive the robot dynamics equation. After the kinetic equation,based on the passive characteristics of the three-link robot arm,we use the PD control with gravity compensation for the robot,and use the Lyapunov function to prove that the system has any trajectories in the vicinity of the equilibrium state under any initial condition which is near the equilibrium state,proves the stability of the three-link robot system. 相似文献
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室内地面清洁机器人路径规划 总被引:7,自引:1,他引:7
梁喜凤 《中国计量学院学报》2006,17(1):64-68
采用栅格法建立环境地图模型,利用沿边走的路径规划算法进行室内地面清洁机器人无障碍与避障路径规划与仿真试验.结果表明,在静态结构化环境中,清洁机器人能够沿内螺旋式“回”字型路径完成清扫任务,并成功避开障碍物和边界,自动定位和转向,清洁完毕机器人能够自动返回到初始位置.这说明沿边走的内螺旋式“回”字型路径规划方式是可行的. 相似文献
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Spot-welding robots have a wide range of applications in manufacturing industries. There are usually many weld joints in a welding task, and a reasonable welding path to traverse these weld joints has a significant impact on welding efficiency. Traditional manual path planning techniques can handle a few weld joints effectively, but when the number of weld joints is large, it is difficult to obtain the optimal path. The traditional manual path planning method is also time consuming and inefficient, and cannot guarantee optimality. Double global optimum genetic algorithm–particle swarm optimization (GA-PSO) based on the GA and PSO algorithms is proposed to solve the welding robot path planning problem, where the shortest collision-free paths are used as the criteria to optimize the welding path. Besides algorithm effectiveness analysis and verification, the simulation results indicate that the algorithm has strong searching ability and practicality, and is suitable for welding robot path planning. 相似文献
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A laser differential confocal radius measurement system with high measurement accuracy is developed for optical manufacturing and metrology. The system uses the zero-crossing point of the differential confocal intensity curve to precisely identify the cat's-eye and confocal positions and uses an interferometer to measure the distance between these two positions, thereby achieving a high-precision measurement for the radius of curvature. The coaxial measuring optical path reduces the Abbe error, and the air-bearing slider reduces the motion error. The error analysis indicates the theoretical accuracy of the system is up to 2?ppm, and the experiment shows that the system has high focusing sensitivity and is little affected by environmental fluctuations; the measuring repeatability is between 4 and 12?ppm. 相似文献