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排序方式: 共有3808条查询结果,搜索用时 15 毫秒
1.
This paper presents a new design of mobile micro manipulation system for robotic micro assembly where a compliant piezoelectric actuator based micro gripper is designed for handling the miniature parts and compensation of misalignment during peg-in-hole assembly is done because piezoelectric actuator has capability of producing the displacement in micron range and generates high force instantaneously. This adjusts the misalignment of peg during robotic micro assembly. The throughput/speed of mobile micro manipulation system is found for picking and placing the peg from one hole to next hole position. An analysis of piezoelectric actuator based micro gripper has been carried out where voltage is controlled through a proportional-derivative (PD) controller. By developing a prototype, it is demonstrated that compliant piezoelectric actuator based micro gripper is capable of handling the peg-in-hole assembly task in a mobile micro manipulation system. 相似文献
2.
Li2O在保护渣中的作用 总被引:7,自引:0,他引:7
采用在不同玻璃性的两种基渣中加入Li2O为研究Li2O对保护渣粘度,熔化温度及玻璃性能的影响,并对Li2O改善保护渣玻璃性的机理进行了探讨,提出了寻找高速连铸保护渣中Li2O的代用物的一种方法。 相似文献
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电致伸缩陶瓷微位移器非线性的数值方法补偿 总被引:7,自引:1,他引:6
本文通过对电致伸缩陶瓷材料的非线性进行分析。找到了补偿电致伸缩陶瓷非线性的数值方法,并对不同回程大小的电滞回线进行了分段处理,使补偿结果更为精确。 相似文献
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6.
Effect of Li+ ions on structure,properties, and actuation of cellulose electro‐active paper actuator
We have reported an electro‐active paper actuator from regenerated cellulose. After dissolving cellulose fibers with a solution of lithium chloride in N,N‐dimethylacetamide, cellulose was regenerated by combining distillation of cellulose solution along with washing with the mixture of deionized water, isopropyl alcohol, and running water. However, the effect of Li+ ions on structure, properties, and the actuation behavior of the actuator was not studied. This article describes the changes in these parameters when the Li+ ions are removed by subjecting it to different running water exposure time. The structure and properties of cellulose electro‐active paper and its actuation behavior were studied. As Li+ ions content reduced from 4354.17 to 10.26 ppm by increasing the exposure time of running water, crystallinity, Young's modulus, and bending displacement decreased. Details about the investigation have been explained. This elimination of ions is important to increase the piezoelectric effect in EAPap by decreasing the ion migration effect. © 2008 Wiley Periodicals, Inc. J Appl Polym Sci 2008 相似文献
7.
This paper proposes a tactile display providing both shear and normal feedback to the fingertip for generating three-axis tactile feedback during teleoperation of a surgical robot. The display is composed of five balloons actuated by controlling the pneumatic pressure. The implemented display is 18?mm?×?18?mm?×?15?mm. This size is suitable for mounting the display onto the master controls of a surgical robot. The maximum normal and shear displacements are 2 and 1.3?mm, respectively. The proposed tactile display may provide perceivable stimuli to a human finger pad in all five directions: normal, distal, proximal, radial, and ulnar. This paper also reports on the results of psychophysical measurement of the minimum perceivable movement of the developed tactile display for each of the five directions. 相似文献
8.
Electrostatic actuators have the advantages of light weight, flexibility, and high energy efficiency, which make them suitable for use as artificial muscles. However, a traditional electrostatic actuator cannot generate long strokes and a high force density at the same time because such actuator would excessively widen the gap between the electrodes because of its structure. This paper presents a newly developed large-scale stacked-type electrostatic actuator (LSEA) intended for use as an artificial muscle for robots. LSEA is a multi-stacked electrostatic actuator that can be linearly contracted by the application of a voltage. It has a unique structure that prevents overextension of the gap between the electrodes. It can therefore generate a large force. The spring characteristics and the relationship between the contractive force and the stroke were experimentally determined. The findings showed that LSEA prevents the overextension of the gap between the electrodes and has a high contraction ratio that is equivalent to that of a mammalian skeletal muscle. 相似文献
9.
《Journal of Process Control》2014,24(3):203-222
In this paper, a fault tolerant control (FTC) strategy using virtual actuators and sensors for linear parameter varying (LPV) systems is proposed. The main idea of this FTC method, initially developed for LTI systems, is to reconfigure the control loop such that the nominal controller could still be used without need of retuning it. The plant with the faulty actuator/sensor is modified adding the virtual actuator/sensor block that masks the actuator/sensor fault. The suggested technique is an active FTC strategy that reconfigures the virtual actuator/sensor on-line taking into account faults and operating point changes. The stability of the reconfigured control loop is guaranteed if the faulty plant is stabilizable/detectable. The LPV virtual actuator/sensor is designed using polytopic LPV techniques and linear matrix inequalities (LMIs). A two-tank system simulator is used to assess the performance of the proposed method. In particular, it is shown that the application of the proposed technique results in an improvement, in terms of performance, with respect to the LTI counterpart. 相似文献
10.
基于滑模控制理论提出一种刚体卫星姿态稳定控制方法,实现对反作用飞轮部分失效故障的容错控制,以及对其安装偏差的补偿控制,并从理论上证明了所设计的控制器在有限时间内能够实现对闭环姿态控制系统的几乎全局渐近稳定控制.最后将所设计的控制器应用于某型卫星姿态稳定任务,仿真结果验证了所提出方法的有效性. 相似文献