基于LoRa无线通信的工业机器人远程监控系统设计

目前设计的工业机器人远程监控系统存在抗干扰能力差、功耗过高的问题。基于LoRa无线通信设计了一种新的工业机器人远程监控系统,系统硬件主要设计了主控芯片、工业机器人接口、电源电路和位移传感器四部分。主控芯片为SX1265/7/8型号射频芯片,选用STM32F1103C8T6型号MCU主控芯片作为LoRa无线通信的组网处理硬件,根据MCU主控芯片性能建立信号链,采用SPI接口使SX1276无线收发装置和单片机设备的接口关联,利用锂电池作为电源电路,通过AME8800AEETL稳压芯片稳定锂电池电源电压,使用WXY31拉线式位移传感器实现传感。引入LoRa无线通信技术,建立LoRa无线通信信号储存时序,接收采集平台下发监控指令,更新显示屏上的机器人工作状态,实现远程监控软件操作。实验结果表明,设计的基于LoRa无线通信的工业机器人远程监控系统抗干扰能力得到有效加强,功耗明显降低。     

比赛机器人制作的基本技巧与调试方法

本文根据多年参加亚太大学生机器人大赛国内选拔赛的经验,对在设计机器人中的一些实际经验进行总结,介绍机器人结构制作、控制器芯片造型、控制器制作和软硬件调试时的一些经验和设计思路。     

基于DSP的足球机器人控制电路设计

从改善足球机器人控制电路性能的目的出发,分析了用普通单片机控制的足球机器人在比赛中的缺陷,对普通单片机和DSP芯片两种控制芯片的性能作了简单的比较,详细介绍了用美国德州仪器(TI)公司生产的TMS320LF2407A芯片作为电路控制芯片,设计足球机器人控制电路的方法。并在实际控制过程中采用PID算法。实现了足球机器人软件控制与硬件的结合。成功地把基于DSP的足球机器人应用于实际的比赛中,实际效果显示与基于普通单片机的机器人相比,性能有了较大的提高,对机器人的控制可以得到更令人满意的结果。     

基于RobotStudio的芯片智能分拣生产线设计

为了缩短芯片智能分拣生产线开发周期,利用虚拟仿真技术在RobotStudio软件中搭建仿真工作站;该工作站以ABB IRB360并联工业机器人为控制核心,利用Solidworks建模软件完成相关模型建立,利用RobotStudio软件的Smart组件、机械装置等功能实现芯片下料、芯片传输、相机检测等过程,设计工业机器人的路径和程序完成分拣工作;最后将仿真工作站的代码直接下载至现场工业机器人,并根据仿真节拍调节现场各模块工作速度,实现芯片的智能分拣;实验结果表明,工业机器人能够根据相机的引导正确且高效地分拣芯片.     

面向地下管道的四向行走智能机器人系统

为了减小地下管道作业人员伤亡,降低城市地下管道维护的成本,研制开发了一种面向地下管道的四向行走智能机器人系统,详细描述了机器人的硬件设计和控制软件设计.机器人控制系统采用ARM-CORTEX芯片作为主控芯片,由于地下管道的特殊性采用有线通信方式,上位机控制软件简洁易操作.测试结果表明:机器人工作性能良好,能够适应不同管径的地下管道,同时具有防水防尘等特性,研究具有一定参考价值.     

新型球形机器人控制系统双处理器通信机制研究

根据新型球形机器人的整体要求,建立了以ARM9系列的S3C2410控制芯片和DSP6000系列的TMS320DM642图像处理芯片为核心的机器人控制系统主体架构,提出了S3C2410芯片外部I/O与DM642芯片HPI口的硬件连接方式和基于ARM-Linux的HPI驱动程序的软件开发方法,在需要图像处理能力和运动控制效果能够综合协调的球形机器人控制系统中,通过HPI接口的软硬件设计,实现了S3C2410与DM642的高速通信;实验结果表明,接口数据读写快速稳定,所完成的工作和所提出的方法对以后其他双核接口的设计与开发具有一定的指导作用与参考价值。     

基于ARM9的嵌入式足球机器人运动控制系统

提出以S3C2410为主控芯片,对MCX314As进行控制的嵌入式足球机器人运动控制方案,分别设计系统的硬件和软件部分.通过对四轮全向机器人的运动学分析,得到机器人运动控制方案.实验证明,以本控制器作为ROBOCUP中型组机器人的底层运动控制系统,速度和位置控制精度等指标均达到了设计要求.     

面向伺服机器人内部通信的CAN总线节点设计

为简化伺服机器人内部通信结构,增强机器人通信能力,提升处理速度,解决多轴协调控制问题,本文介绍了一种基于NIOSII处理器和FPGA(Field Programmable Gate Array)的用于伺服机器人内部通信的CAN总线节点的设计方法。采用可编程技术和32位高性能NIOSII处理器,以Verilog HDL硬件描述语言实现CAN总线控制器,在一片FPGA芯片内实现了CAN总线节点设计。充分利用NIOSII微处理器的高速运算能力和FPGA逻辑功能由硬件电路实现,计算速度快(纳秒级)的能力,大大简化实际电路,提高了机器人内部通信的灵活性,增强了通信能力。实验表明,该设计的CAN总线节点性能可靠且能代替传统伺服机器人中常使用的专用微控制器芯片,满足伺服机器人中的通信需求。     

基于S3C44BOX和SM5004的足球机器人运动控制系统

Robocup中型组的足球机器人控制系统设计。描述了以S3C44BOX为主控芯片,SM5004为驱动芯片的底层运动控制模块的硬件结构,通过分析四轮全向机器人的运动学模型,使用模糊自适应PID控制算法完成对机器人的闭环控制。实践证明,以这种控制器作为ROBOCUP中型组机器人的底层运动控制系统,其速度、位置及控制精度等指标均达到了设计要求。     

基于脉宽差控制算法的双足竞步机器人设计

双足型机器人由于在工业应用和服务行业中有广泛的应用前景,因此具有非常重要的研究价值。本文设计了一个采用普通单片机构成的机器人控制方案,选用STC89C52型单片机作为机器人舵机控制板的主芯片,采用辉盛MG996通用型舵机作为机器人的关节驱动电机,使用Siemens公司的UG结构模型建模软件进行机器人结构零件设计,在实验室手工加工了全部机器人零件。     

3D modelling of the agricultural tractor

The use of a CAD system for the design of tractors is described. The way the system is managed and how it has met its initial objectives are discussed. The problems and benefits of using CAD for tractor design are analysed.     

Encapsulation of geometric functions for ship structural CAD using a STEP database as native storage

It is difficult to support collaborative design with a conventional ship CAD system that manages design information using files. The file storage, however, can be replaced with a commercial database management system. This paper describes OpenDIS, which is an interface between the geometric modeling kernel and the DBMS. The main purpose of OpenDIS is to implement a CAD system that has the STEP database as the native storage. A prototype CAD system has been implemented using the OpenCascade geometric modeling kernel and ObjectStore, a commercial object-oriented DBMS. The STEP methodology is used for the database schema. This CAD system has been applied to the hull design process of a ship in order to verify the usefulness of the interface.     

Object-oriented CAD for Hydraulic Circuits of Pressing Machines

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基于Inventor的产品外观设计与实现

随着计算机技术的发展,计算机辅助设计(CAD)的水平有了很大的提高,CAD已不仅仅局限于进行二维图纸设计,而是能够建立真实地反映系统的三维实体模型,并且可以将多个三维实体模型装配为系统进行机构动态分析。Inventor是以实体建模为主,兼顾基础曲面建模的混合型三维建模的通用CAD软件系统。其核心组成部分为零件设计、装配设计、工程图纸;此外,Inventor还有一些特定行业的功能:动力学仿真模块、有限元应力分析模块、管路设计模块等。     

湿法烟气脱硫塔计算机辅助设计系统

采用Visual C 工具对湿法烟气脱硫塔的AutoCAD进行了二次开发，开发出了湿法烟气脱硫塔计算机辅助设计系统。在此基础上，对其开发的方法和技术进行了研究。结果表明，所开发出的湿法烟气脱硫塔设计系统可靠性强、操作简单、界面可视化，极大地提高了脱硫塔的设计效率与质量。     

Automation in the design of EDM electrodes

Plastic parts, especially those designed for consumer electronics products, are becoming more compact and freeform in shape. This requires the construction of compact and delicate geometric features in the injection moulds that produce these parts. It is now common practice to employ electric discharge machining (EDM) whenever the conventional machining process fails to machine such delicate features. Although CAD/CAM systems are widely used in mould design and manufacturing, and specific commercial CAD/CAM systems that are customized for injection mould applications are also available, there are still no intelligent CAD tools that address the specific requirements of EDM electrode design. The aim of this research is to develop an intelligent CAD tool that supports EDM electrode design. This CAD tool uses a new technique that recursively splits the EDM region into sub-regions until machinable electrodes can be constructed. The CAD tool has been implemented and integrated into a commercial CAD/CAM system, and 40 different real designs has been used to test its capability in handling a wide variety of geometric shapes. Performance data show that the efficiency of the design process can be improved by at least 50%, with a potential to achieve 85% through improved implementation and further research.     

基于Visual C++环境下的叶轮CAD系统设计

本文在 Visual C 环境下开发了一个渣浆泵叶轮设计的可视化 CAD系统。该系统按照软件工程的设计方法进行了程序系统的设计 ;系统采用可视化编程语言—Visual C 6.0编写 ;建立了便于维护与更新的叶轮设计数据库 ;该系统能根据设计结果自动生成工程图纸。该软件界面友好 ,易于使用 ,具有较强的实用性。     

An object-oriented database management system for computer-aided design of tall buildings

An effective database and database management system is the key to the success of an integrated approach to software engineering applications in general, and Computer-Aided Design (CAD) for structural applications in particular. Due to the inherent nature of CAD data such as dynamic modeling, a wide range of data types, large data volume, etc., the traditional database models, such as hierarchical, network and relational models, are unable to handle the aforementioned applications satisfactorily. An object-oriented data modeling is known to be the most effective approach. However, many of the commercial object-oriented databases are designed for information management, and they are inadequate for CAD application due to the different features of the object-hierarchy and varying data management objectives during the design cycles. This paper presents a hierarchical index-based object-oriented database management model for CAD applications. To deal with the object hierarchy encountered in CAD for the design of tall buildings, the proposed database consists of several salient features: a hierarchical object model, its related storage structure, a data dictionary, a class factory and an index system. The proposed database management model has been implemented into an integrated CAD system for design application of tall buildings.     

Virtual DesignWorks—designing 3D CAD models via haptic interaction

Haptic devices (force feedback interfaces) show great promise for use in the design of CAD models. However, current haptic systems are used primarily to verify rather than to interact with CAD systems to design a model.The paper discusses a haptic-based CAD system—Virtual DesignWorks. It is the world's first haptic application for the design of CAD models based on component technology (COM+). With haptic devices, the system allows engineers, in virtual space, to directly touch a native B-Rep CAD model, and deform it by pushing, pulling and dragging its surfaces in a natural three-dimensional environment. Virtual DesignWorks adopts the novel COM-based haptic model, which demonstrates significant advantages compared to the traditional haptic models. Force feedback gives designers the greatest flexibility for the design of complex surfaces, and haptics has the potential to become a critical interface for design applications.     

上海大众汽车覆盖件模具CAD/CAE/CAM系统

CAD／CAE／CAM技术在现代汽车模具设计和制造中具有重要作用。本文立足于上海大众汽车有限公司对车身覆盖件模具（CAI）／CAE／CAM系统的需求，论述了上海大众汽车覆盖件模具CAD／CAE／CAM系统的软硬件平和系统的结构体系。本文介绍的CAD／CAE／CAM系统已在上海大众的覆盖件模具设计制造和冲压工艺规划中开始应用，并取得苦于成果。