制糖企业原料收购自动化信息系统的设计与应用

介绍了一种基于C／S(服务器，客户机)结构面向制糖企业原料收购自动化信息系统的建立方案。结合此方案在某以甜菜为原料的制糖企业成功应用案例．分析讨论了确保系统实时性、安全性、准确性和可靠性在软硬件设计时应考虑和解决的几个关键性问题。其结论对建立同类型企业自动化信息系统具有一定的参考价值。     

基于PLC的卸料机械手设计

随着制造业的竞争越来越激烈,对生产的自动化程度提出了越来越高的要求.通过分析注塑生产中工人卸料的操作情况,将气压传动技术与PLC控制相结合,采用西门子SIMATICS7-300可编程控制器开发了注塑模卸料机械手,首先介绍系统的控制对象,然后着重探讨了系统的气压传动原理和控制软件的设计方案.     

Sheet material lifting mechanism of the manipulator

At present,machine fixed up and down repeatedly work is done by human.Although it is low cost and easy to change plate,there are many shortcomings of the work injury and the low work efficiency.Foreign automatic loading and unloading device has been developed,but the principle is more complex,the cost is higher,the energy consumption is larger,so the automatic loading and unloading robot came into being.Aiming at the transportation of mechanical raw material,an automatic device is designed to transport the scheduled raw materials to the specified position according to the processing requirements.The device has the characteristics of the simple operation,the rapid response and the large range of activities,and has obvious economic and environmental benefits.There is certain popularization value.     

An algorithm for the minimum weight design of a telescopic jib

The purpose of the algorithm presented in this paper is to determine the discrete cross sectional dimensions of members of a telescopic jib which minimize the total weight of the structure subject to some simplified strength conditions and to the technology and matching requirements. The algorithm can be applied effectively even in such extreme cases as that of a jib consisting of five members, when the number of dimensions to be determined amounts to 35.     

The design of a planar robotic manipulator for optimum performance of prescribed tasks

The application of a general optimization methodology, previously proposed by the authors, is extended here to the design of a three link revolute-joint planar manipulator performing more practical and complicated prescribed tasks. In particular a tool moving task and a spray painting task are considered. Both the minimization of average torque and energy usage required for execution of the tasks are addressed and the optimization is carried out with the link lengths and base coordinates taken as the five design variables. In addition to simple physical bounds placed on the variables, the maximum deliverable torques of the driving motors represent further constraints on the system. Joint angle constraints, not previously considered but of great practical importance, are also imposed in this study. This results in significantly more challenging optimization problems than those previously tackled. The complications arising from lock-up and nonassembly are handled by specially devised procedures. The optimization is carried out via penalty function formulations of the constrained problems to which the Snyman unconstrained trajectory optimization algorithm is applied in a special way. For both tasks and for both objective functions, with the full complement of constraints imposed, feasible designs with low objective function values are obtained by using, in each case, four different infeasible designs as starting points for the algorithm.     

自动轧钢过程中推床自动夹紧判断

推床自动控制是自动轧钢过程中重要环节,而推床的夹紧判断是实现推床自动的关键之一。本文介绍了采用MTS数据进行均方差处理来判断推床夹紧的方法,在现场应用效果良好。     

The mechanical design of a seven-axes manipulator with kinematic isotropy

Discussed in this paper are the issues underlying the mechanical design of a seven-axes isotropic manipulator. The kinematic design of this manipulator was made based on one main criterion, namely, accuracy. Thus, the main issue determining the underlying architecture, defined by its Hartenberg—Denavit (HD) parameters, was the optimization of its kinematic conditioning. This main criterion led not to one set of HD parameters, but rather to a manifold of these sets, which allowed the incorporation of further requirements, such as structural behavior, workspace considerations and functionality properties. These requirements in turn allowed the determination of the link shapes and the selection of actuators. The detailed mechanical design led to heuristic rules that helped in the decision-making process in defining issues such as link sub-assemblies and motor location along the joint axes.     

A new controller design for a flexible one-link manipulator

A novel controller design for noncollocated flexible one-link manipulator arm tip position control based on variable structure sliding mode control is presented. Using the assumed-mode method, the plant model is derived. The discontinuous control law based on the variable structure system theory for the noncollocated manipulator tip position control is then designed. The position state variables are obtained directly from the inversion of the output submatrix multiplied by the sensor measurements. The velocity state variables are estimated through decoupled estimators-a separate first-order observer for each of the system's modes under consideration. Different sampling periods are used for the estimator and the controller. The performance of the controller is evaluated through a series of simulations, followed by an analysis of the designed control system     

并联机床控制器的设计与研究

根据并联机床的插补算法结合计算机控制技术提出了并联机床数控系统专用控制器的总体结构,并控对控制器的软、硬件结构进行了研究和设计.在控制器的硬件结构上,采用了多CPU结构,合理分配了数控运行中的任务,从而间接提高了系统运行效率.     

二甲醚装置自控仪表的设计

先后设计了三套二甲醚装置的自控仪表,参与了建设期设计现场服务全过程,现将二甲醚装置的自控仪表设计情况简要总结,以供同行参考。     

Tolerance design of manipulator parameters using design of experiment approach

A robotic arm must manipulate objects with high accuracy and repeatability to perform precise tasks. There are many factors that cause variations in performance and they referred as noise factors. A probabilistic approach has been used to model the effects of noise factors and an experimental design technique has been adopted to select optimal tolerance of kinematic and dynamic parameters for minimal performance variations. The control and noise factor arrays are employed to identify statistically significant parameters and their interactions. The performance measures like signal to noise ratio and reliability have been utilized and results are validated by Monte Carlo simulations. The proposed design of experiment methodology requires minimal computations. The tolerance design methodology of manipulator is illustrated by 2-DOF revolute–revolute planar manipulator following cubic and quintic trajectory to perform a task. The statistical analysis of simulated performances is carried out using analysis of variance technique, which showed that statistically significant parameters are independent of trajectory. The individual parameter tolerance sensitivity has also been carried out.     

一种六自由度机械臂的控制系统设计

针对机械臂在工业自动化等方面的需求,在分析了传统机械臂控制系统的基础上提出了一种以STM32F4为主控制器、陀螺仪传感器为关节状态检测器、舵机驱动模块为机械臂运动单元的六自由度控制系统。该系统采用扩展卡尔曼滤波算法(EKF算法),将陀螺仪采集的关节状态参数传递给EKF核心算法进行预估机械臂的运动状态,实现对机械臂运动过程中的偏差调控。实验表明,该控制系统的运动精度误差最大不超过18 mm,能够快速、准确地调控机械臂的运动轨迹。     

Computer-aided optimum design of steel tubular telescopic pole structures

This paper presents a computer-aided approach for the optimum design of steel tubular telescopic pole structures. The author's experience in steel pole structure's design is implemented in a computer program called ODAPS (optimum design and analysis of pole structures). Although several other computer programs exist for the analysis and design of steel tubular pole structures, they are limited to cases where dimensions are pre-defined by the user. Different from these conventional programs, the developed program is able to automatically design the pole structure having the lightest weight that satisfies the limits states criteria within given geometrical boundary conditions. Simple equations and charts for the design of poles of different steel grade and having different length, subjected to various point loads at their top, are obtained using this program. It is possible to obtain economical designs for pole structures subjected to a specified loading using these equations or charts.     

激光测距仪在机械手自动更换技术中的应用

设计了一种基于位置敏感器件(PSD)的三角形激光测距仪,测距仪安装在空间机器人的腕部,在机器人工作时对距离和机械手腕的位置与姿态进行检测,激光器发出明亮的红色光斑可作为机器人视觉的基准。     

Concurrent design of a three-link manipulator prototype

This paper presents an affordable and comprehensive robotic model of critical aid to any engineering school involved in teaching robotics. We present the stages of designing a three-link robot manipulator prototype that was built as part of a research project for establishing a prototyping environment for robot manipulators. Building this robot helped to determine the required subsystems and interfaces for building the prototyping environment, and provided hands-on experience for real problems and difficulties that are addressed and solved using this environment. The robot is now successfully used as an educational tool in robotics and control classes.     

Optimum design of a three-dimensional serial robot manipulator

A systematic and mathematical optimization methodology is presented for the optimal design of a three link, revolute joint, three-dimensional manipulator which must perform specific prescribed tasks. The objective of interest is the minimization of average torque requirement. In particular circular and eccentric closed task paths are considered. The optimization is carried out with the link lengths and the positional coordinates of the base taken as the five design variables, and subject to assembly and geometric constraints imposed on the system. In particular restrictions are placed on the joint angle between the links and on the link lengths. The minimization is successfully performed by the application of Snymans robust dynamic trajectory method for unconstrained optimization, to a penalty function formulation of the constrained problem.     

嵌入式自动折弯机接口协议及高端软件设计

自动折弯机沿袭了传统数控折弯机在加工方面的高精度、高效率,在此基础上增加了自动送料及自动开槽功能,进一步增强了加工材料的选择性和适应性。本文基于自动折弯机系统的结构和功能,定义了PC端与底端接口协议,使得PC端生成的命令通过USB直接被底端使用。底端执行相应命令,最终实现自动送料及自动开槽功能。同时本文详细阐述了系统PC端软件设计方案,采用字模提取、数字图像处理、折弯加工等先进技术,生成了特定的命令文件供底端使用。     

门架式机械手在低压电流互感器自动检定系统中的应用

介绍了一种已在低压电流互感器自动检定系统中成功应用的门架式机械手。该机械手采用PL C作为控制系统,利用伺服电机控制器和气动电磁阀分别控制机械手运动电缸和重载型平行气爪,实现了机械手直角坐标运动、腕部电缸旋转和气爪的张开和闭合,能够完成互感器抓取和搬运的动作。现场应用证明其可靠性高,运行平稳精准,能够满足低压电流互感器自动检定系统的使用要求。     

The design of a new remote manipulator for space operation using a 4-cable-driven thrusters-embedded configuration

A new remote manipulator based on cable-driven parallel mechanism (CDPM) is designed for space long-distance operations (e.g. space capture/docking and other long-distance space activities) in this paper. By controlling the cables and thrusters which are equipped on the manipulator simultaneously, the new remote manipulator can achieve expected position, linear velocity, and angular velocity. The new manipulator has a larger controllable workspace compared with usual CDPMs. The structure and characteristics of this manipulator are discussed in this paper. The volume and characteristics of the workspace are also discussed. The influence of the distance on the static equilibrium is studied. The simulation results show that the workspace of this new manipulator is larger than usual CDPM’s. The results also indicate that the cable forces and thruster vectors can completely constrain the manipulator and meet the requirements of space activities. The results of the simulation also show that the controllable workspace of the manipulator is not continuous at some regions. Hence, trajectory planning is necessary.