几种常用的二指平动抓手的结构和特点

机械手在工业生产中应用广泛,抓手是机械手抓取物体的执行机构.文章介绍了常用的楔式结构和双气缸结构的二指平动抓手,分析了这二类抓手的性能特点,阐述了选择抓手时要考虑的问题.     

Adhesion Mechanisms of Polyurethanes to Glass Surfaces I. Structure-Property Relationships in Polyurethanes and Their Effects on Adhesion to Glass

Polyurethanes were prepared from toluene diisocyanate (TDI), 1-4-butane diol (BDO) and polycaprolactone-based triols with varying molecular weights. Among each molecular weight triol-based urethane, hard segment content was varied from 20% to 70%. Differential scanning calorimetry, tensile testing, and Iosipescu shear testing were done on all the various urethanes prepared. Thermal characterization data revealed the dependence of phase separation on hard segment content as well as on the triol molecular weight. Tensile data and Iosipescu shear data further confirmed the observations made from the DSC data. The data further indicated that phase separation can greatly improve the modulus of cross-linked segmented urethanes. Adhesion of these urethanes to glass surface was evaluated using soda-lime float glass plate. Urethane samples were cast on the air side of the glass plates and adhesion was measured in shear mode. Adhesion data indicated that in addition to hard segment content, modulus, cross-link density, and molecular weight of the triols, phase separation seems to be a major factor in controlling adhesion. Surfaces of the failed adhesion samples were also analyzed and the failure mode was found to be cohesive, in varying degree, with the different urethane systems.     

A simple method to solve the forward displacement analysis of the general six-legged parallel manipulator

In this work a simple method to solve the forward displacement analysis of the general 6-6 fully parallel manipulator is applied. The method is based on generating closure equations upon the unknown coordinates of three points embedded to the moving platform. The method is easy to follow and it is available for both, planar and three-dimensional moving platforms. Numerical examples are included with the purpose to show the application of the method.     

Tri-pyramid Robot: Design and kinematic analysis of a 3-DOF translational parallel manipulator

3-DOF translational parallel manipulators have been developed in many different forms, but they still have respective disadvantages in different applications. To overcome their disadvantages, the structure and constraint design of a 3-DOF translational parallel manipulator is presented and named the Tri-pyramid Robot. In the constraint design of the presented manipulator, a conical displacement subset is defined based on displacement group theory. A triangular pyramidal constraint is presented and applied in the constraint designs between the manipulator?s subchains. The structural properties including the decoupled motions, overconstraint elimination, singularity free workspace, fixed actuators and isotropic configuration are analyzed and compared to existing structures. The Tri-pyramid Robot is constrained and realized by a minimal number of 1-DOF joints. The kinematic position solutions, workspace with variation of structural parameters, Jacobian matrix, isotropic and dexterity analysis are performed and evaluated in the numerical simulations.     

Formulation of unified Jacobian for serial-parallel manipulators

This paper presents a general approach for Jacobian analysis of serial-parallel manipulators (S-PMs) formed by two lower mobility parallel manipulators (PMs) connected in serials. Based on the kinematic relation, coupling and constraint properties of each PM, the unified forward and inverse Jacobian matrices for S-PMs are derived in explicit form. It is shown that the Jacobian matrices of S-PMs have unified forms, which include the complete information of each PM. A (3-RPS)+(3-SPS/UP) S-PM is used as an example to demonstrate the proposed approach. The established model is applicable for S-PMs with various architectures.     

基于显式计算的单播链路时延估计

为提高基于单播测量的网络链路时延分布估计速度,提出了一种基于显式计算的单播链路时延快速估计方法.由于网络设备多样化导致链路时延特征存在差异,首先根据端到端测量数据为各链路分配不同的离散间隔;然后利用背靠背探测包在网络中引入的二层二叉树结构,通过显式计算推断各链路的时延分布,能明显提高估计速度.仿真结果表明,该方法将链路时延分布的估计时间降低至数百毫秒,同时更准确地捕获链路时延特征.该方法基于显式计算,计算复杂度非常低,因此能够满足实际应用的实时性要求.     

不同重力环境的空间机械臂自抗扰轨迹跟踪控制

针对空间机械臂在地面装调与空间应用时,由于重力环境变化导致机械臂模型发生变化的问题,提出了一种自抗扰控制算法,用于完成空间机械臂轨迹跟踪控制的任务.该算法通过将系统模型及未知外扰作为系统的总和扰动,并利用扩张状态观测器对该扰动进行观测且给予补偿,从而提高了系统抗扰的性能.当机械臂模型随重力环境变化而发生变化时,使用同一个自抗扰控制器对其末端轨迹进行控制,均能取得较好的控制效果.通过对系统的稳定性进行分析,证明了所设计控制器的有效性.将仿真结果与PD控制及自适应鲁棒控制做比较,结果表明该控制算法不仅能适应机械臂模型的变化而且还能有效抵抗系统的扰动,从而使系统具有较强的鲁棒性.     

基于MSP430F449的掺杂煤炭快速检测系统设计

介绍了一种基于MSP430F449的掺杂煤炭快速检测仪的设计,阐述了该系统的工作原理和系统设计方案。该系统以DDS芯片AD9833为核心设计激励源,采用24位高精度A/D转换器CS5532实现数据采集,通过RS—232实现上位机和下位机的通信。在煤炭阻抗数据预处理中,采用剔除疏失误差技术,并设计了基于LabVIEW的上位机数据库管理系统。实验证明:该仪器便于携带,低功耗,能够准确识别煤炭的掺杂情况,同时具有操作简单、稳定可靠、方便管理等特点。     

"纳米内交联"耐高速聚氨酯新胶轮的研发

针对分散相尺寸和两相界面粘结这两个影响纳米复合材料性能的关键因素,运用“纳米内交联”技术,合成了聚氨酯纳米复合材料,生产出耐高速聚氨酯胶轮,与普通有机蒙脱土填充聚氨酯材料性能和其胶轮内生热的对比测试表明:“纳米内交联”耐高速聚氨酯纳米复合材料综合性能优异,阻尼性大幅度降低,从而大幅度降低了聚氨酯胶轮高速转动时的内生热,为解决长期困扰聚氨酯界的“聚氨酯高速转动内生热极大”的难题开辟了新路。