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在反射镜组件进行检测装配时,各零件加工过程中形成尺寸公差、形状位置公差会产生装配应力。装配应力通过反射镜体传到反射镜镜面使反射镜面形变差。针对该问题文中提出将柔性铰链应用于反射镜组件检测工装设计的方法。为验证该方法的可行性,针对某反射镜组件的特征参数和检测方法,应用柔性铰链设计理论及仿真分析软件设计了反射镜组件检测柔性工装。完成对反射镜组件重复性试验、拧紧力矩敏感性试验,试验结果表明柔性工装具有较好的稳定性。反射镜组件面形与反射镜单镜面形相比变化0.006 rms,满足工装设计要求。与刚性工装比,柔性铰链应用反射镜检测工装显著降低了装配应力对反射镜面形的影响。 相似文献
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提出一种基于游标原理的高精度大量程智能测量方法,解决精确测量中不同待测信号幅值差别大而各自变化幅度小,对分辨率要求高的问题.将待测模拟信号分为基准大量程主信号和小量程高精度的辅助信号,分别测量后进行合成.利用常规分辨率的A/D转换器、单片机、运算电路等组成一个大量程精确测量系统.分析和应用表明,只要测量装置的灵敏度和稳定性高,被测量与基准量的差值越小,测量结果精度就越高;该测量方法可将测量器具的不确定度对测量结果的影响大大降低,可以使用常规精度的测量工具完成大量程精确测量;该方法也非常适合精确测取被测信号的微小变化量,即使在小信号输入情况下,仍能取得满意的测量效果. 相似文献
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为满足足式机器人教学实验需要及提高实验平台可靠性,研制了一种基于虚拟仿真技术的足式机器人创新实验平台。该实验平台基于PyBullet虚拟物理引擎搭建,通过设计步态规划、步行控制等功能模块,能够完成足式机器人步态规划、步行控制等算法的仿真验证等任务。同时,依托该平台展示涉及机械设计、软件开发等专业方向的教学内容,有利于智能机器人课程实践教学的开展。基于该创新实验平台,设计了一个拥有13个自由度的足式机器人,能够完成自主步行、上楼梯等功能。实践表明,该创新实验平台具有实验成本低、高度可定制化的优点,非常适合科学研究和实验教学中需要个性化定制机器人的应用场景。 相似文献
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针对惯性约束激光核聚变(ICF)靶零件夹持和装配过程中存在的重载荷与高检测分辨率之间的装配难题,该文提出了一种基于双轴旋转结构的微装配方法。首先通过分析装配目标器件(铝套筒,金腔和半腔)的特点,制定了精密装配总体结构方案。然后介绍双轴旋转装置并对相应的传感器进行标定,并进一步对集成传感器的双轴旋转装置进行角度偏转测试,可检测最小0.01°的偏转。实验表明,该双轴旋转装置能灵敏地检测到微小的偏转,并且传感器对双轴旋转具有“置零”的能力,通过该装置可在无视觉引导的情况下完成目标件的装配。 相似文献
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采用硅基应变片设计了一种可用于精密微装配作业过程,检测x、y、z方向微接触力的三维微力传感器;经微小改动后,该传感器可成为五维微力传感器。分析了力传感器测量原理,建立其测量模型,并设计了传感器信号放大电路。测试了微力传感器的性能指标,在x、y、z3个方向的微力测量分辨率为0.001 N,测量精度可达0.005 N,测量范围为-0.5~ 0.5 N。最后设计了微装配作业控制系统,并利用该传感器实现力位移混合控制,顺利完成了180μm微型轴与200μm微型孔间的精密微装配实验研究。 相似文献
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为了解决跨尺度微小型零件在精密装配中宏尺度与微特征的测量分辨问题,提出了一种基于正交双目视觉与倾角仪组合的空间位姿高精测量系统。该系统建立了成像单元、倾角仪辅助测量单元、零部件夹持单元之间的坐标转换关系,并结合倾角仪提供的角度信息,提出了针对微小型零件的空间位姿高精测量解析算法。同时,以光纤阵列及连接头为研究对象,搭建了两零件的空间位姿实时测量及自动化装配测试平台。结果表明,在3mm×2mm×2mm的空间范围内,组合测量系统测得的位置与姿态偏差分别小于(±2μm, ±2μm, ±3μm)和(±0.005°, ±0.004°, ±0.005°)。相对于传统的测量方法,该组合测量系统显著提高了微器件的测量精度,可进一步满足微小型零件的空间位姿精密测量及自动化装配需求。 相似文献
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Robot Vision System for Coordinate Measurement of Feature Points on Large Scale Automobile Part 下载免费PDF全文
In this paper, we present a robot vision based system for coordinate measurement of feature points on large scale automobile parts. Our system consists of an industrial 6-DOF robot mounted with a CCD camera and a PC. The system controls the robot into the area of feature points. The images of measuring feature points are acquired by the camera mounted on the robot. 3D positions of the feature points are obtained from a model based pose estimation that applies to the images. The measured positions of all feature points are then transformed to the reference coordinate of feature points whose positions are obtained from the coordinate measuring machine (CMM). Finally, the point-to-point distances between the measured feature points and the reference feature points are calculated and reported. The results show that the root mean square error (RMSE) of measure values obtained by our system is less than 0.5 mm. Our system is adequate for automobile assembly and can perform faster than conventional methods. 相似文献
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工业机器人末端位姿测量对机器人装配和机器人标定等工作具有重要价值。针对机器人位姿测量中常用标靶受环境光干扰较大、机器人运动空间有限等缺点设计了一款亮度可调、响应迅速的六面体立体标靶,并提出一种基于单目视觉的立体标靶标定方法。通过初始图像对的选择,解决单目视觉中本质矩阵分解得到的平移向量不精确的问题,并采用光束平差法对初始图像场景进行优化;向场景中添加新图像并使用光束平差法对场景进行全局优化,提高特征点重建精度;以精度为5m的平面标定板上的特征点作为真实点,解决单目视觉重建场景缺乏尺度因子的问题。实验表明:特征点三维重建的平均误差小于0.035 mm,能够有效进行立体标靶的标定;使用该标靶计算的机器人位姿信息,将机器的位置精度提高了37%。 相似文献
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Ruijun Chen Baldwin D.F. 《Electronics Packaging Manufacturing, IEEE Transactions on》1999,22(4):308-313
Emerging electronic assemblies are demanding lower cost, lighter weight, miniaturized packages mounted on thin flexible circuit boards and/or flex circuits. However, the compliant nature of the flex substrates poses new processing technology challenges for standard surface mount assembly equipment. A particular challenge is fixture tooling. The flexible substrate experiences significant transverse displacements under perpendicular assembly and/or fixturing forces during solder paste printing and component placement processes. The transverse displacements result in misregistration of the component leads and substrate bond pads, leading to severe assembly process defects. The solder reflow process further complicates the issue due to the thermo-mechanical warpage induced. Conventional assembly equipment utilizes dedicated tooling designed to handle rigid circuit board assemblies. As electronic assemblies move toward very fine pitch surface mount packages, chip scale packages, and flip chip attachment assembled to thin flexible double-sided circuit boards, reengineered and specialized dedicated tooling for fixturing flexible substrates in standard assembly equipment are becoming extremely important. This paper focuses on developing analysis methodologies and theories for implementing machine dedicated Smart Tooling. The primary goals being to determine the impact of fixturing on assembly process quality and to determine optimum fixturing configurations for thin flexible circuit board assemblies based on circuit design data. A mathematical model to describe both transverse and perpendicular displacements of flex substrates is developed, and its closed form solution for transverse displacements is obtained. Fixturing configurations based on a perimeter support technique of flex substrates is analyzed to minimize transverse displacements 相似文献
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基于单片机的量程自动转换电压表设计 总被引:3,自引:0,他引:3
介绍信号平方后积分平均技术实现交流信号真有效值测量原理;采用真有效值转换芯片AD736实现任意波形的真有效值的精确测量;通过多路模拟开关与运放的组合设置了多个电压量程,应用MC14433的超欠量程信息控制单片机,自动识别输入交流信号电压范围,选择相应的增益和衰减,实现量程自动转换功能.实验结果表明,该电压表具有读数准确、方便,精度高等特点,且适于对任意非正弦波形的测量. 相似文献
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结合丝网印刷机工作原理及玻璃印刷中的生产工艺,讲述伺服定位系统在全自动丝网印刷机中的应用,主要从定位部分的结构和伺服电机控制方式上,讲述如何使用伺服电机的位置控制和力矩控制相结合的方式,提高丝网印刷机的印刷精度和生产效率。相对于汽缸定位方式使用伺服定位以后可以使印刷机的印刷精度提高一倍左右。 相似文献
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《Mechatronics》2021
With the rise of small batch production, the need to shorten the development cycle has become urgent. This work aims to allow people without expert knowledge to program the robot in a single demonstration to reduce development costs. The idea of this work is to record frame relations between objects during the demonstration as templates. Then the robot is programmed by the template sequence to simplify the programming process and shorten the development time. Since symmetry will cause uncertainty in pose estimation during execution, a symmetry detection module is developed to detect the rotational symmetry of the objects through inertia tensor and all the rotation matrices are acquired using group theory. After that, a template matching module is designed to measure the distance between the current pose and possible target poses to choose the proper target pose which matches the template to avoid unreachable robot poses and accelerate the executing process. Two pick-and-place tasks, a stacking test, and a sorting task are carried out to verify our system and the results show that our method is feasible and efficient. 相似文献
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《Antennas and Propagation, IEEE Transactions on》2009,57(1):168-175