用模型输入方法控制柔性臂的振动

采用模型输入控制方法进行柔性臂残余振动控制研究,在对实际实验系统建模和仿真的基础上,进行了实验研究,采用压电加速度传感器和集成半导体激光与光敏位置传感器测量振动信号,结果表明模型输入控制方法可以有效控制柔性臂运行结束后的残余振动。     

柔性装配系统单元控制模型浅析

柔性装配系统单元控制模型浅析赵涛齐二石（天津大学管理学院）１引言当今企业外部环境的频繁变化使得企业不断引进和开发新产品，以扩大其市场份额，增强竞争能力。近年来，由于计算机技术的飞速发展，使得柔性装配系统（ＦｌｅｘｉｂｌｅＡｓｅｍｂｌｙＳｙｓｔｅｍ－...     

柔性制造工作站控制模型及控制逻辑的自动生成研究

针对柔性制造工作站的特点提出的工作站控制器模型,为了实现工作站控制器控制代码的自动生成,提出了规范化Ｐｅｔｒｉ网的概念,并建立了工作站控制的ＳＰＮ模型与对象模型、ＳＰＮ模型与ＰＬＣ的梯形图代码之间的映射规划与方法,从而较好地解决了工作控制器控制代码的自动生成问题。     

柔性机械臂非并置式模型参考自适应控制

推导了单连杆柔性机械臂的动力学模型,研究其末端位置的模型,参考自适应控制。在推导动力学模型时,使用刚性模态和多个弹性模态使单连杆柔性机械臂等效为一个多自由度的机械多体动力系统。在研究末端位置的弹性振动抑制方法时,使用了振动主动控制方法,用线性化模型的最优状态反馈方法构造模型、Ｌｙａｐｕｎｏｖ稳定性理论推导了模型状态跟踪的自适应控制率,用ＬＱＲ方法推导末位置调节控制主。用模型状态跟踪和末端位置跟踪两     

基于Pwtri网模型的FMS控制决策方法研究

应用Ｐｅｔｒｉ网理论,通过对现有ＦＭＳ进行分析和研究,确定了该ＦＭＳ中的各状态和事件及其因果关系,建立了实际ＦＭＳ的Ｐｅｔｒｉ网模型。通过该模型的描述和对ＦＭＳ实际运行情况进行分析,建立了优化调度控制规则。     

FMS柔性的评价

本文对影响ＦＭＳ柔性的因素进行了较深入的分析，形成了因素层次关系，并提出用模糊评判的方法进行系统柔性评价的概念，构造了各因素对评语集合的隶属度函数，计算和评价过程简单，通过实例分析，证明是评价系统柔性的有效办法。     

从控制结构看制造系统的柔性问题

本文从控制结构的角度分析制造系统的柔性问题,给出基于独立制造岛的分层分布式结构,并且结合实例研究了这种结构的实施的可行性。     

柔性制造系统可靠性分析的GOOPN模型

提出了一种用于FMS可靠性分析的扩展的面向对象的Petri网模型 ,该模型引入了公共库所及对象的模块表示 ,具有较好的模块性、重用性及可维护性 ,能够反映FMS的动态柔性特点。文中给出了GOOPN的定义 ,并针对一个FMS进行了建模。     

柔性加工单元筹建的初步规划

柔性制造技术的发展,柔性加工单元(FMC)及柔性制造系统(FMS)在国外使用成功,为企业采用较高级的自动化加工设备和形成现代化高效益的生产手段,提供了应用选择的条件。企业在试图采用FMC或FMS时,必须掌握这方面的知识及最新动态,结合企业本身的需要和可能具备的条件,进行科学的切合实际的分析,拟订FMC工程筹建的初步规划。筹建FMC或FMS的基础条件是:资金、技术吸收能力及加工对象的适应性,而后者是最基础的。     

弹簧挠性设计和装配

以模具中卸料机构弹簧的设计与组装为例,介绍了弹簧的挠性设计与装配的步骤。     

基于PC控制的大型机电设备柔性改进

文章介绍了通过将附加单元“插入”、“替换”或“迭加”到原PC控制系统中去来增强设备的柔性和延长使用寿命的方法。这个附加单元南常规元件、单片机系统或通用的PC模块组成。     

A Comparison Between Machine Flexibility and Routing Flexibility

In this paper, we evaluate two types of flexibility, machine flexibility and routing flexibility, in terms of manufacturing performance in various shop environments. A simulation-based investigation was conducted to analyze the impact of these types of flexibility on the average flow time of parts under various job flow pattern conditions, which characterize the shop nature from a random job shop to a flow shop, operation time variance, setup time, and shop load. The experimental results show how these types of flexibility affect the average flow time of parts and which type is superior under what conditions. Management can obtain better insight and guidelines for determining priorities or the scale, or scope, of various decision items relating to design standardization, process and operations improvement, investment in new equipment and tools, and the like.     

Definition and Classification of Manufacturing Flexibility Types and Measures

Flexibility is one of the most sought-after properties in modern manufacturing systems. Despite this interest, flexibility remains poorly understood in theory and poorly utilized in practice. One reason for this is the lack of general agreement on how to define flexibility: over 70 terms (types and measures) can be found in the literature. This paper concerns developing a framework and classification scheme for use in defining and classifying the various terms regarding flexibility found in manufacturing. The framework consists of six attributes: level of manufacturing requirements specification, manufacturing system specification, manufacturing environment specification, flexibility dimension, flexibility measurement approach, and time frame. A six-field hybrid classification scheme is developed based on this framework. The framework serves as a guide for developing new flexibility terms, whereas the classification scheme provides a mechanism for summarizing the important aspects of and assumptions behind a given term. The approach is demonstrated by using the classification scheme to classify over 50 existing flexibility terms. The results indicate that the classification scheme is an effective tool to aid in understanding different flexibility terms and how they compare to one another. At the same time, the difficulty of the classification exercise indicates the need for a suitable framework when defining such terms.     

仿生柔性减阻系统模型与试验研究

以大柔度杆与滑板系统为研究对象,根据能量平衡原理,建立了柔性系统阻力与柔杆柔度,滑动速度变化量间的动力学模型,定量分析了柔度与速度变化量对滑动阻力的影响规律,与刚性系统做了对比,柔性系统的最大减阻率可达27．2％,并对理论结论进行实验验证,对柔性减阻机理工作解释与分析,为开发减粘降阻实力技术提供了理论依据。     

柔性冗余度机器人的可操作性桑度的研究

把机器人操作器的杆件的柔度按照势能等效原理附加到杆件的伺服关节柔度上,称为等效关节柔度;利用操作器的关节空间和直角坐标空间的对偶关系,得到操作器末端的等效柔度矩阵,并提出了综合柔度的概念,以表明操作器末端柔度大小;结合冗余度机器人操作器的可操作性能,提出了在柔性冗余度机器人中操作器的柔性和可操作性对其性能的综合影响指标——可操作性柔度。通过调整冗余度机器人的"自运动"最小化可操作性柔度,从而取得具有较低的柔性和较好的操作性能的操作器的最佳工作姿态,为柔性冗余度机器人的控制提供了依据。     

仿蟹步行机构模型灵活度分析

在仿生研究基础上,阐述步行机躯体灵活度的概念及其计算方法;讨论仿蟹步行机构模型的腿节相对长度,关节布置及腿在躯体上的安装方式等机构学参数对灵活度的影响。     

柔性冗余度机器人的可操作性柔度的研究

把机器人操作器的杆件的柔度按照势能等效原理附加杆件的伺服关节柔度上,称为等效关节柔度;利用操作器的关节空间和直角坐标的空间的对偶关系,得到操作器末端的等效柔度矩阵,并提出了综合柔度的概念,以表明操作器末端柔度大小;结合冗余度机器人操作器的可操作性能,提出了在柔性冗余度机器人中操作器的柔性和可操作性对其性能的综合影响指标－－可操作性柔度。通过调整冗余度机器人的“自运动”最小化可操作性柔度,从而取得具有较低的柔性和较好的操作性能的操作器的最佳工作姿态,为柔性冗余度机器人的控制提供了依据。     

面向产能柔性的综合生产计划模型研究

在阐述产能柔性概念的基础上,分析了影响产能柔性的因素及其能力构成,进而以生产成本、库存成本以及非柔性成本最小化建立了综合生产计划优化模型,最后采用遗传算法予以求解,并通过实例仿真证明了模型和算法的有效性和可行性。     

Manufacturing Flexibility: Assessing Managerial Perception and Utilization

This paper presents an empirical study of how consumer electronics companies in Brazil deal with the issue of manufacturing flexibility. The main purpose is to provide an understanding into how flexibility is being perceived and utilized in a newly industrialized country. It begins by explaining the relevance of this study. The participation of Brazil in the world economy is important. Here, companies can be very flexible, based on low cost and an abundant skilled work force, yet flexibility has not been addressed. The paper explains how indicators were established to obtain an analytical structure with which to assess the managerial perception and the actual industrial use of flexibility. Finally, we show the most relevant results of our investigation of 16 leading firms in Brazil, including multinational ones. The findings are divided according to managerial perception of flexibility and effective utilization of flexibility in the organization. The paper concludes that firms in the consumer electronics industry in Brazil do not use flexibility practices in the same proportion that they perceive its importance.