自驱动关节臂坐标测量机模块化关节设计

传统的关节臂测量机工作时是依靠工作人员牵拉实现运动和测量,存在路径规划不佳、主观性误差大、测量效率低等问题很难适应智能制造对在线自动测量系统的新要求。本文提出了利用含有无刷电机、谐波减速器及精密轴系的模块化关节构成自驱动关节臂坐标测量机的构想,并对模块化关节进行了构型设计,建立了单关节扭矩估算模型,在此基础上选择了关节2的电机和谐波减速器,设计了关节模块的测控电路,研制了单关节部件样机并进行了重复性实验。其中单方向测量数据表明,为保证较小的测量重复性误差,关节在运动时应尽量避免速度或加速度突变的运动形式;双方向测量的数据表明,当控制电机运动速率小于1.53rad/s时,测头因回弹产生误触发信号的概率较小,此时最大误差数据为±2.11″。上述实验也验证了模块化关节设计方案的可行性,为后续自驱动关节臂坐标测量机整机研制提供了理论和实验依据。     

Short communication: Repeatability of β-hydroxybutyrate measurements in capillary blood obtained from the external vulvar skin

The primary objective of this study was to evaluate the repeatability of measurements of β-hydroxybutyrate (BHB) concentrations in capillary blood obtained from minimal-invasive puncturing of different sites at the external vulva skin of dairy cows. A total of 240 multiparous cows sampled once within 21 d in milk were enrolled in the study. Capillary blood samples were obtained from the right and left labium of the external vulva skin and additionally from a site close to the first puncture. Samples were analyzed by using an electronic hand-held device [FreeStyle Precison Neo (FSP-Neo), Abbott GmbH & Co., Wiesbaden, Germany)]. Additionally, samples from a coccygeal vessel were analyzed as reference in a laboratory. Mean deviations (± standard deviation) between the 3 capillary sampling sites ranged from 0.01 ± 0.14 (left vs. right labium) to 0.02 ± 0.13 mmol/L (left or right labium vs. additional site). The BHB concentrations in capillary blood compared with the reference showed a mean deviation of 0.14 ± 0.18 mmol/L. The Spearman correlation coefficient between BHB concentrations in capillary blood and coccygeal blood was 85.4%. Mixed model analyses showed no significant effect of sampling site or squeezing the skin during sampling procedures on the differences toward the reference. Based on laboratory BHB concentrations of ≥1.2 and ≥1.4 mmol/L, respectively, the prevalence of hyperketonemia was 10.4 (n = 25) and 5.0% (n = 12). Thresholds to detect hyperketonemia with the FSP-Neo were optimized by receiver operating characteristic analyses. Based on a laboratory BHB concentration of ≥1.2 mmol/L thresholds were determined as 1.1 (left labium, 2nd puncture) and 1.0 mmol/L (right labium), with sensitivities between 94 and 99% and specificities between 89 and 97%. Based on a serum BHB concentration of 1.4 mmol/L, receiver operating characteristic analyses resulted in optimized cutoffs of 1.4 mmol/L for all sampling sites at the vulva, with sensitivities of 100% and specificities between 96 and 99%. In conclusion, vulvar capillary blood is suitable for accurate measuring of BHB concentrations by using the FSP-Neo. After adjusting the thresholds, the FSP-Neo provides very good test characteristics independent of the capillary sampling site or squeezing the skin and allows a practical and reliable screening tool for dairy cows.     

̼��ά���ܲ��ڸֽṹ��������е�Ӧ��

 大型钢结构发展迅猛,但经过长期服役,一旦发生破坏,后果十分严重,因此开展钢结构健康监测具有重大意义。以普通Q235钢板为研究对象,在其下表面铺设自制的碳纤维智能层,并对其进行3点弯曲试验,试验过程中钢板下表面的智能层的电阻变化率的变化与钢板下表面的平均应变的变化呈现很好的一致性。智能层的电阻变化率随钢板应变线性变化,灵敏度高,且具有很好的重复性。试验结果表明:根据碳纤维智能层的良好传感特性,可以实现钢结构服役过程中应变场的监测。     

v/p转压方式对注塑制品质量重复精度的影响

对注射成型中四种不同的v/p(射速/压力)转压方式的工艺性能进行了研究,以制品质量作为验证参数,同时考虑了模具温度的变化.研究发现,注塑制品质量重复精度的提高除了受到转压方式的影响还同相应转压方式下的工艺参数设定有关;制品质量的变化受模具温度的影响,常规转压方式下,制品质量随模具温度升高而降低,而模腔熔体温度转压方式下...     

A Multiplicative Model for Gauge R & R Studies

We introduce a multiplicative measurement error model and analyze a gauge R & R study with the new model using data from a sample exchange program. Some aspects of designing a gauge R & R study are considered. Also, we analyze data from a factorial experiment where the measurement error arises from the new model using a simultaneous analysis of experimental and gauge R & R study data. WinBUGS code for these analyses is provided. Copyright © 2014 John Wiley & Sons, Ltd.     

Impact and Assessment of Measurement Systems that Meet the 4:1 Rule

This article considers the impact of a measurement system that meets the 4:1 rule. Probabilities of accepting a bad part and rejecting a good part are evaluated. A simulation study calculates the increased estimates of the population standard deviation when the measurement error is ignored, where both non‐trending and trending populations are considered. Also, the impact of sample size is evaluated on estimates and upper confidence bounds of the measurement system standard deviation that are used to assess the 4:1 rule capability; both measurement systems from a single and multiple sources of variation are explored. Copyright © 2014 John Wiley & Sons, Ltd.     

一种协作机器人位姿重复性优化综合

在给定位姿重复性要求的前提下,寻找各关节随机运动精度的最优分配方案能够使协作机器人设计更加合理,对降低机器人制造成本有重要意义。首先,在机器人位姿重复性分析的基础上,建立了位姿重复性数学模型,该数学模型包含机器人位置重复性和姿态重复性;其次,以协作机器人KUKA iiwa 7为例,以关节运动误差最大化为优化目标,对该机器人位姿重复性进行优化综合,获得各关节随机运动精度的最优分配方案;最后,对KUKA iiwa 7机器人进行位姿重复性实验,结果验证了该方法的正确性,基于该方法的精度设计结果能够使协作机器人设计更加合理。     

测量系统分析(MSA)在齿轮生产过程中的应用

测量系统分析(MSA)的概述,对计量型数据进行五种分析,包括稳定性、偏移、线性、重复性与再现性;对计数型数据进行Kappa统计量的计算,从而判定在齿轮生产过程中的测量系统的状态、可接受程度与改进方向。     

检具随机误差的验收评定方法

介绍了四种常用的检具随机误差验收评定方法，并分析了各种评定方法的特点及适用性。     

Two‐dimensional guidelines for measurement system indices

In this paper, we review two common measurement system indices and a common process capability index. With some simple plots, it will be shown that the traditional guidelines for these measurement system indices can often misdirect improvement efforts. By taking advantage of the relationship between the measurement system indices and the process capability index, two‐dimensional guidelines that can be used as an alternative to the traditional guidelines are developed. These two‐dimensional guidelines are intended to help address adequacy of the measurement system and better direct improvement efforts to where there will be the most benefit. Copyright © 2010 John Wiley & Sons, Ltd.