Real-time accurate hand path tracking and joint trajectory planning for industrial robots (I)

Previously, researchers raised the accuracy for a robot’s hand to track a specified path in Cartesian space mainly through increasing the number of knots on the path and the number of the path’s segments, which results in the heavier online computational burden for the robot controller. Aiming at overcoming this drawback, the authors propose a new kind of real-time accurate hand path tracking and joint trajectory planning method. Through selecting some extra knots on the specified hand path by a certain rule and introducing a sinusoidal function to the joint displacement equation of each segment, this method can greatly raise the path tracking accuracy of robot’s hand and does not change the number of the path’s segments. It also does not increase markedly the computational burden of robot controller. The result of simulation indicates that this method is very effective, and has important value in increasing the application of industrial robots. Foundation item: Foundation of the Robotics Laboratory, Chinese Academy of Sciences (No. RL200002) Biography of the first author: TAN Guan-zheng, Dr., professor, born in Oct. 1962, majoring in artificial intelligence, robotics and automation.     

从76届SEG年会看综合物化探技术的发展方向

文中在介绍76届SEG年会的展商、展台及会场专题报告与论文发布情况的基础上，阐述了参加本届SEG年会的体会，指出了重磁电技术发展的四个趋势：向海洋勘探技术方向发展、向复杂区综合勘探技术方向发展、向三维联合处理和三维可视化解释技术发展、向直接圈定和检测油气方向发展。     

浅谈胶条接头与模具设计

简要地介绍了橡胶条常见接头工艺方法、应用特点及模具结构与设计方法。     

Analysis of frictional energy dissipation on an annular surface with harmonic loading

Metallic mating surfaces in structural joints offer a good source of frictional energy dissipation resulting in a damped dynamic structural response. This paper reports the results of experiments where the energy dissipation per cycle occurring at a preloaded flat metallic annular interface subjected to cyclic tangential forces is measured. The effects of certain pertinent joint variables on this frictional energy dissipation are investigated by the application of Response Surface Methodology. A central composite rotatable design was utilized for developing empirical expressions for energy loss. The methodology presented suggests a useful technique for tribological research.     

Optical pattern recognition using two-channel joint transform correlation

A new joint transform correlation (JTC) technique, named two-channel JTC (TJTC), is proposed in this paper for optical pattern recognition applications. The TJTC technique independently evaluates the autocorrelation and crosscorrelation values of the reference and the target images and employs a modified decision algorithm. In addition, optical threshold operation and fringe-adjusted filter are incorporated in the proposed technique to enhance the correlation output and to improve the discrimination performance. The proposed technique shows better recognition performance compared to existing JTC techniques. Computer simulation are presented to investigate the salient features of the proposed TJTC technique with noise-free as well as noisy input scenes. The text was submitted by the authors in English.     

煤气管道膨胀节腐蚀和在线包焊技术应用

简单分析了高炉煤气中Cl元素的存在对不锈钢膨胀节的应力腐蚀问题和防止途径，作为一种临时性的防范措施，简要介绍了煤气膨胀节包焊实施步骤和措施。     

铰接顶梁接头模具的热处理

叙述了热锻模的工作条件及材料分析 ,对铰接顶梁接头模具的热处理工艺作了探讨。     

螺栓球网架杆件在非节点横向荷载作用下承载力的有限元分析

运用ANSYS有限元程序 ,研究了在轴向力与非节点横向力共同作用下网架螺栓球节点杆件的受力性能 ,得出其应力分布状况及弹性极限承载力 ,并提出了螺栓球网架杆件在非节点横向力作用下承载力的计算公式。     

基于计算的工业喷涂机器人基本参数设计方法

设计与确定机器人参数需要在各项性能之间进行折衷,常常是一个耗时的迭代过程。本文提出了一种工业喷涂机器人基本参数确定的一般方法。通过喷涂机器人的设计与开发过程,基于机器人建模方法,归纳出机器人基本参数对各项性能尤其是工作空间特性的影响因素与规律,并在此过程中上分析了其结构参数对机器人工作空间和性能的影响,从而得出了机器人工作空间特性与结构参数之间的内在联系,为工业机器人的设计提供依据。