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1.
李敏  刘京诚  刘俊  秦岚 《现代电子技术》2007,30(13):101-104
研制了一种能在导磁面上运动的电磁驱动的微小爬壁机器人,其尺寸为30 mm×15 mm×20 mm,重约30 g。在分析尺蠖运动原理和现有爬壁机器人驱动方式、驱动力和机器人结构的基础上,设计了新的驱动结构和驱动方式,实验测试表明,此设计明显提高了机器人的驱动力。通过研究人体的转弯机理,实现了机器人的快速转弯。分析了机器人的驱动控制信号,设计制作了机器人的驱动控制电路。整个爬壁机器人采用爬行式运动方式,运动速度可以达到1.1 cm/s,可以在0~90°的导磁面上爬行。  相似文献   

2.
激光制导测量机器人系统运动学分析   总被引:1,自引:1,他引:0  
介绍了“光束运动-光靶跟踪”激光跟踪测量方法,研究了激光制导测量机器人技术,开发并研制了一种能够在被测对象水平面和斜面运动的小型轮臂复合式激光制导测量机器人系统。建立了机器人的爬行臂式运动学模型并对其运动特性进行了分析。最后,利用激光跟踪仪和三坐标测量机对激光制导测量机器人样机进行了性能测试,实验结果表明:该机器人能够自动高效地跟踪激光束并完成测量,验证了运动学分析的正确性,同时也解决了激光制导测量机器人技术中光靶的掉光问题。  相似文献   

3.
陈畅  张卫平  邹阳  孙浩 《压电与声光》2018,40(5):700-703
该文提出了一种基于压电驱动的六足爬行机器人的整体设计与制造方案,并对六足爬行机器人进行了动力学建模。介绍了爬行机器人碳纤维连杆传动机构的原理,并提出了各部分零部件的加工方案。介绍了压电驱动器多层材料叠合的复合结构加工工艺,对压电驱动器进行了性能测试,并将其应用到爬行机器人样机上。在280 V的直流偏置电压下,总质量4.631 g的爬行机器人样机完成了爬行运动测试,验证了压电驱动的六足爬行机器人设计方案的可行性。  相似文献   

4.
本文介绍一种四足爬行机器人的组成结构及其控制系统的构成.控制系统主要由上位机控制界面和下位机控制单元组成.上位机通过Java语言编写调试控制界面,与下位机通过串口进行通信,下位机采用STM32作为核心控制器,接收上位机的相关控制信息,通过控制舵机控制器,实现四足爬行机器人的行走控制.  相似文献   

5.
介绍了一种能用于爬行机器人避障的超声测距系统,通过渡越时间法测距.给出了系统的设计原理、测距系统的组成和结构、超声传感器的分布、硬件电路图、软件的流程以及数据的分析.实验发现,该测距系统测量偏差小,可用于爬行机器人避障并取得了很好的避障效果.  相似文献   

6.
为提高机器人适应复杂地面环境的能力,车轮采用可变形为三爪的结构,可根据不同的路面,选择轮式移动和爪式爬行两种步态,实现现场侦察。该机器人采用上下两级的控制策略,以Lab view软件进行上级监视、操控界面开发,下级选用功能强大的STM32芯片作为车载主控制器,MSP430单片机作为协控制器,应用RS-485总线组成分布式控制系统。有效的实现了机器人的远程控制和信息传递。  相似文献   

7.
1949年,为了模仿自然生命,英国科学家Grey walter设计制作了一对名叫Elmer和Eliset的机器人,因为它们的外形和移动速度都类似自然界的爬行龟,也被称为机器龟,这是公认最早的真正意义上的移动式机器人。本期我们就一起来用现代的材料和制作工艺复原这对机器人亚当和夏娃。  相似文献   

8.
科技简讯     
东京农工大学工程部研究开发了一种从外部照射光,象毛毛虫一样一边伸缩一边移动的光驱动微型机器人.制作的“光机器人”直径为16mm,厚度为1mm的圆盘状两个压电元件的两脚之间,距离为24.5mm,厚度为0.7mm铜板的机体相连接的简单结构,把它安装在铝板上  相似文献   

9.
一、引言 P.A.Augustov等人用激光束照射LiNbO_3:Fe晶体薄片时曾观察到了一种近90°的光散射。他们还发现,在这种情况下将所有散射光、透射光、反射光及吸收光的全部能量从入射光能量中减去后,结果仍有相当一部分剩余能量(占入射光能量的27%)不知耗散去向。他们定性地把上述现象归为与晶体缺陷引起的噪音位相栅的记录有关,但没有给出确切的解释。我们用氦-氖激光束照射LiNbO_3:Fe晶体薄片时,除了观察到上述近90°的光散射外,还观察到在晶体薄片内沿晶体光轴方向爬行的光散射。本文分析了这种光散射形成的原因与条件,并证明了这种爬行光散射正是上述剩余能量的耗散去向;散射光在爬行过程中从晶体薄片不断泄漏出去乃是近90°光散射的来源。  相似文献   

10.
不久前,在日本东京开幕的1997年国际机器人博览会上,参观者面对一个个形态各异、功能超群的机器人惊叹不已,流连忘返。请看:能够在75度斜坡上爬行自如的建筑机器人,能够演奏小提琴、钢琴等各种乐器的演奏机器人,能够表达喜、怒、哀、乐情感的模拟机器人,能够给病人实施高难度外科手术的医疗机器人,能够在绿茵场上一展身手的竞赛机器人,甚至于能够进入人体替代内窥镜帮助医生寻找病灶的微型机器人等等。种种迹象表明,目前世界上100多万台正活跃在各行各业工作的机器人已使人们从科学幻想变成现实。然而,时至今日人们还没有研制出…  相似文献   

11.
DUV lithography, using the 248 nm wavelength, is a viable manufacturing option for devices with features at 130 nm and less. Given the low kl value of the lithography, integrated process development is a necessary method for achieving acceptable process latitude. The application of assist features for rule based OPC requires the simultaneous optimization of the mask, illumination optics and the resist.Described in this paper are the details involved in optimizing each of these aspects for line and space imaging.A reference pitch is first chosen to determine how the optics will be set. The ideal sigma setting is determined by a simple geometrically derived expression. The inner and outer machine settings are determined, in turn,with the simulation of a figure of merit. The maximum value of the response surface of this FOM occurs at the optimal sigma settings. Experimental confirmation of this is shown in the paper.Assist features are used to modify the aerial image of the more isolated images on the mask. The effect that the diffraction of the scattering bars (SBs) has on the image intensity distribution is explained. Rules for determining the size and placement of SBs are also given.Resist is optimized for use with off-axis illumination and assist features. A general explanation of the material' s effect is discussed along with the affect on the through-pitch bias. The paper culminates with the showing of the lithographic results from the fully optimized system.  相似文献   

12.
The relation between the power of the Brillouin signal and the strain is one of the bases of the distributed fiber sensors of temperature and strain. The coefficient of the Bfillouin gain can be changed by the temperature and the strain that will affect the power of the Brillouin scattering. The relation between the change of the Brillouin gain coefficient and the strain is thought to be linear by many researchers. However, it is not always linear based on the theoretical analysis and numerical simulation. Therefore, errors will be caused if the relation between the change of the Brillouin gain coefficient and the strain is regarded as to be linear approximately for measuring the temperature and the strain. For this reason, the influence of the parameters on the Brillouin gain coefficient is proposed through theoretical analysis and numerical simulation.  相似文献   

13.
Today, micro-system technology and the development of new MEMS (Micro-Electro-Mechanical Systems) are emerging rapidly. In order for this development to become a success in the long run, measurement systems have to ensure product quality. Most often, MEMS have to be tested by means of functionality or destructive tests. One reason for this is that there are no suitable systems or sensing probes available which can be used for the measurement of quasi inaccessible features like small holes or cavities. We present a measurement system that could be used for these kinds of measurements. The system combines a fiber optical, miniaturized sensing probe with low-coherence interferometry, so that absolute distance measurements with nanometer accuracy are possible.  相似文献   

14.
The parallel thinning algorithm with two subiterations is improved in this paper. By analyzing the notions of connected components and passes, a conclusion is drawn that the number of passes and the number of eight-connected components are equal. Then the expression of the number of eight-connected components is obtained which replaces the old one in the algorithm. And a reserving condition is proposed by experiments, which alleviates the excess deletion where a diagonal line and a beeline intersect. The experimental results demonstrate that the thinned curve is almost located in the middle of the original curve connectivelv with single pixel width and the processing speed is high.  相似文献   

15.
From its emergence in the late 1980s as a lower cost alternative to early EEPROM technologies, flash memory has evolved to higher densities and speedsand rapidly growing acceptance in mobile applications.In the process, flash memory devices have placed increased test requirements on manufacturers. Today, as flash device test grows in importance in China, manufacturers face growing pressure for reduced cost-oftest, increased throughput and greater return on investment for test equipment. At the same time, the move to integrated flash packages for contactless smart card applications adds a significant further challenge to manufacturers seeking rapid, low-cost test.  相似文献   

16.
This paper presents a new method to increase the waveguide coupling efficiency in hybrid silicon lasers. We find that the propagation constant of the InGaAsP emitting layer can be equal to that of the Si resonant layer through improving the design size of the InP waveguide. The coupling power achieves 42% of the total power in the hybrid lasers when the thickness of the bonding layer is 100 nm. Our result is very close to 50% of the total power reported by Intel when the thickness of the thin bonding layer is less than 5 nm. Therefore, our invariable coupling power technique is simpler than Intel's.  相似文献   

17.
Waveguide multilayer optical card (WMOC) is a novel storage device of three-dimensional optical information. An advanced readout system fitting for the WMOC is introduced in this paper. The hardware mainly consists of the light source for reading, WMOC, motorized stages addressing unit, microscope imaging unit, CCD detecting unit and PC controlling & processing unit. The movement of the precision motorized stage is controlled by the computer through Visual Basic (VB) language in software. A control panel is also designed to get the layer address and the page address through which the position of the motorized stages can be changed. The WMOC readout system is easy to manage and the readout result is directly displayed on computer monitor.  相似文献   

18.
It is well known that adding more antennas at the transmitter or at the receiver may offer larger channel capacity in the multiple-input multiple-output(MIMO) communication systems. In this letter, a simple proof is presented for the fact that the channel capacity increases with an increase in the number of receiving antennas. The proof is based on the famous capacity formula of Foschini and Gans with matrix theory.  相似文献   

19.
In order to diagnose the laser-produced plasmas, a focusing curved crystal spectrometer has been developed for measuring the X-ray lines radiated from a laser-produced plasmas. The design is based on the fact that the ray emitted from a source located at one focus of an ellipse will converge on the other focus by the reflection of the elliptical surface. The focal length and the eccentricity of the ellipse are 1350 mm and 0.9586, respectively. The spectrometer can be used to measure the X- ray lines in the wavelength range of 0.2-0.37 nm, and a LiF crystal (200) (2d = 0.4027 nm) is used as dispersive element covering Bragg angle from 30° to 67.5°. The spectrometer was tested on Shengnang- Ⅱ which can deliver laser energy of 60-80 J/pulse and the laser wavelength is 0.35 μm. Photographs of spectra including the 1 s2p ^1P1-1s^2 ^1S0 resonance line(w), the 1s2p ^3P2-1s^2 1S0 magnetic quadrupole line(x), the 1s2p ^3P1-1 s^2 ^1S0 intercombination lines(y), the 1 s2p ^3S~1-1 s^2 ^1S0 forbidden line(z) in helium-like Ti Ⅹ Ⅺ and the 1 s2s2p ^2P3/2-1 s622s ^2S1/2 line(q) in lithium-like Ti Ⅹ Ⅹhave been recorded with a X-ray CCD camera. The experimental result shows that the wavelength resolution(λ/△ 2) is above 1000 and the elliptical crystal spectrometer is suitable for X-ray spectroscopy.  相似文献   

20.
High purity organic-tantalum precursors for thin film ALD TaN were synthesized and characterized.Vapor pressure and thermal stability of these precursors were studied.From the vapor pressure analysis,it was found that TBTEMT has a higher vapor pressure than any other published liquid TaN precursor,including TBTDET,TAITMATA,and IPTDET.Thermal stability of the alkyl groups on the precursors was investigated using a 1H NMR technique.The results indicated that the tertbutylimino group is the most stable group on TBTDET and TBTEMT as compared to the dialkylamido groups.Thermal stability of TaN precursors decreased in the following order:TBTDET > PDMAT > TBTEMT.In conclusion,precursor vapor pressure and thermal stability were tuned by making slight variations in the ligand sphere around the metal center.  相似文献   

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