一种基于SIMATICT—CPU的运动控制伺服系统设计

设计和论证了一种以西门子SIMATICT—CPU315T-2DP作为轴的运动控制器,以IM174作为通信模块连接伺服电机和控制器,控制伺服电机完成各种电机运动,以及多套伺服电机组成的电机群之间的同步运动和组合复杂运动的可行方案。经实践检验,这种方案简单易行,可以作为一般运动控制伺服系统设计的模板。     

西门子SIHATICT-CPU在钢结构数控钻床中的应用

本文介绍西门子SlMATlC T—CPU S7—300PLC作为机床进给轴的运动控制器,在完成机床设备逻辑控制的同时,完成复杂的机床运动控制任务。所有的运动工艺组件（伺服驱动,编码器,等等）都是以DP（DRIVE）通讯口连接,采取等时同步模式组成DP网;同时,使用MPI通讯口与上位机（PC）相联,组成了一个集运动控制、检测补偿、监控等功能完善的专用钻床。     

19—SELF-TWIST SPINNING: PROTOTYPE DEVELOPMENT

The development of self-twist spinning as a system of forming staple-fibre yarns has been dependent on the use of simultaneously oscillating and rotating rubber-covered rollers for the insertion of alternating twist. Design aspects of the mounting and driving of such rollers are described, and some parameters affecting the way in which they twist staple-fibre strands are investigated.     

Selection guide of insert piece shape for steel joint by autocompleting friction welding method

Abstract

An autocompleting friction welding method, which was developed by the authors, is to weld with using a rotating insert piece set between fixed base metals. This paper describes the selection guide of the insert piece size for steel joints by the autocompleting friction welding method. The base metal was low carbon steel (LCS), and the weld faying surface of the fixed specimen had a 10 mm diameter. The effect of the thickness at the bottom of the grooves for the insert piece (groove bottom thickness) on the joining phenomena was investigated. When the joint was made at a friction pressure of 90 MPa with a friction speed of 27·5 s^?1, the insert piece had a shear fracture towards the circumferential direction (circumferential shear fracture) in the peripheral portion of the weld interfaces by the initial peak produced during the friction process. In this case, the insert piece had the following dimensions: the thickness was 4·0 mm, and the groove bottom thickness was 1·2 mm or over with an inner groove diameter of 11 mm. In particular, the joint with a groove bottom thickness of 1·2 mm had 100% joint efficiency and the LCS base metal fracture with no crack at the weld interface. The value of a circumferential shear fracture (CSF value) was defined and calculated by the ratio between the theoretical and the actual generated friction torques. When the CSF value nearly equalled 1, the joint had 100% joint efficiency and the LCS base metal fracture with no crack at the weld interface.     

An Experimental Study on Cartesian Impedance Control for a Joint Torque-Based Manipulator

The purpose of this paper is to present our results on experimental investigations on Cartesian impedance control and nonlinearity compensation for our harmonic drive robot based on joint torque sensors. The imperfection of the cubic model for harmonic drive friction is detected according to friction identification experiments. In addition, five different Cartesian impedance control schemes are considered and four of them are tested by corresponding experiments with/without friction compensation. Experimental results tell us that the force-based impedance control strategy is more suitable than the position-based strategy for the harmonic drive robot based on joint torque feedback.     

Coupled and decoupled actuation of robotic mechanisms

In this paper, we describe two types of seemingly opposing design and control concepts for the realization of a high performance robotic system. One of them is the coupled drive. It is a design and control strategy to maximize the output power of the robotic system by actively coupling the drive of installed actuators. We show two design examples of the coupled drive - design of a leg mechanism and gait control of the wall-climbing robot NINJA-II, and design of a multi-degrees-offreedom manipulator CT-Arm. Another is the gravitationally decoupled actuation (GDA). This is a design and control strategy to maximize energy efficiency of a robotic system by means of decoupled drive of the installed actuators. We show two design examples based on the GDA - design of leg mechanism and control of quadruped walking robots. In the final part of the paper, we discuss a methodology to merge the two above-mentioned seemingly contradictory design methods and apply the merged concept to posture control of a walking robot on a three-dimensional terrain.     

Stiffness Design of Springs for a Screw Drive In-Pipe Robot to Pass through Curved Pipes and Vertical Straight Pipes

Various in-pipe robots used for inspection have been developed as a preventive measure against leakage. To expand the use of these robots in small pipelines, high environmental adaptability via a simple structure must be achieved. One solution, using the screw drive mechanism, has been focused on because it requires only one motor. However, the screw drive mechanism cannot achieve complex motion because of its 1-d.o.f. Therefore, existing screw drive in-pipe robots cannot pass through curved pipes with a small curvature radius. To overcome this problem, the kinematic analysis of the screw drive mechanism has been conducted on the basis of the basic principle of helical motion in curved pipes. From the analysis, the relationship among the spring stiffness, motor torque, robot length and static friction on the inner pipe wall is established for the design of stiffness of the supporting springs. The optimal spring stiffness is, thus, derived for the robot to pass through the curved pipe and to climb up in the vertical pipe. The experimental test has been used to verify the validity of the design.     

The position control of induction motors using a binary disturbance observer

A control approach for the robust position control of an induction motor based on the binary disturbance observer is described. The binary controller with the binary disturbance observer is implemented for the position control of the induction machine subjected to load disturbances and realizes continuous control. The binary disturbance observer is used to eliminate the chattering problem of a sliding mode disturbance observer. In order to eliminate the steady-state error, the binary disturbance observer with an integral augmented switching hyperplane is proposed. The robustness is achieved, and continuous control is realized by employing the proposed observer without the chattering problem and the steady-state error. The effectiveness of the proposed observer is confirmed by the comparative experimental results.     

DC704前驱动桥的设计要点

大齿集团是我国定点生产拖拉机前驱动桥的厂家。DC 704前驱动桥是专门为匹配中马力(60马力～70马力)拖拉机而设计的。阐述了这种驱动桥的设计思想及要点，概括介绍了主要部件的设计方法与计算。     

Resonant-Type Smooth Impact Drive Mechanism Actuator with Two Langevin Transducers

A smooth impact drive mechanism (SIDM) is a unique piezoelectric actuator that is widely used as a camera focusing mechanism, cell phone lens movement mechanism, etc. This principle enables a compact driving mechanism; however, it cannot generate high-speed movement because a soft-type multilayered piezoelectric transducer (PZT) is utilized at off-resonant movement. This paper proposes a resonant-type SIDM actuator driven with hard-type PZTs to realize high-speed and powerful operation. The fundamental principle is also based on the conventional SIDM; therefore, a saw-shaped movement is required. To generate a high-power ultrasonic output, two Langevin transducers are adopted instead of a soft-type multilayered PZT. One Langevin transducer was a stator and the other was slider whose tip was adhered to a carbon fiber reinforced plastic (CFRP) rod. The CFRP rod was connected to the stator transducer with the frictional force. To obtain quasi-saw-shaped vibration, the longitudinal vibration for each Langevin transducer was excited and these movements were added at the connection point at the CFRP rod. In order to combine these vibration modes, the lengths of the stator and slider Langevin transducers were designed to make the resonant frequencies ratio to be 1:2. By using the proposed principle, the slider Langevin transducer was successfully driven with the speed of 0.11 m/s and the output force was 1.8 N with no load.