基于Pro/E的RV减速装置设计及运动分析

应用Pro/E软件为RV减速装置建立了三维实体零件模型,对装配路径进行规划,并对RV减速装置进行虚拟装配,运动分析以及相应的测量曲线.通过计算机软件进行建模和装配,为实际产品的设计提供指导,具有重要的意义.     

RV传动机构发展概述及设计新思想

RV传动机构自1986年日本开发并投放市场以来,作为机器人用传动装置是刚性最高的低振动传动装置,因而得到广泛使用。一、RV机构的传动原理及其构成 1.RV传动是由直齿轮传动部分和偏心差动式传动部分组合而成的二级减速传动。如图1所示。输入齿轮z_1将电机的回转运动传递给三个均布的直齿轮z_2,并按齿数比进行减速,实现第一级减速传动。齿轮z_2通过曲轴H,使RV齿轮z_c作偏心运动。     

RV减速器综合性能检测平台的研制与测试分析

RV减速器是工业机器人的重要组成部件,其综合性能决定着机器人的控制精度.目前,市场上缺少检测RV减速器性能的产品,现有检测平台种类较少、功能单一且操作复杂,不能满足国内工业机器人生产研究的需要.通过分析RV减速器的机械结构和工作原理,深入研究RV减速器的传动误差、传动效率、扭转刚度等性能参数检测方法,设计了一种RV减速...     

RV减速器动态特性研究综述

RV减速器作为工业机器人系统的高精密减速传动装置,在工业机器人产业化方面起到关键性作用。就RV减速器传动过程中零部件的弹性变形、激励因素以及复杂的接触关系对减速器动态特性的影响问题,综述了RV减速器固有特性、动态响应、动力稳定性、系统参数对系统动态特性的影响等方面的研究内容,阐述了国内外学者对RV减速器动态特性的研究进展,指出了建立多个虚拟样机模型以及如何实现对虚拟样机的实验验证是RV减速器动态特性研究的热点问题。     

RV减速器二级减速部分原始误差分析

RV减速器是机器人用高精度减速装置,其传动允许转角误差不大于1',所以,在制造和装配过程中的各因素会严重影响其传动精度。摆线轮、曲柄轴、输出机构作为其二级减速部分重要传动零部件,其原始误差严重影响整机传动精度。通过建立传动四杆机构模型,将三者之间的误差影响关系表述出来,并直接建立二级减速部分输入和输出转角之间关系,通过四杆机构分析,得到三者对传动精度影响规律,进而建立偏差取舍标准和控制措施,能够对制造和装配起到一定的理论指导作用。     

RV减速机动力学建模方法研究与分析

利用Hertz公式建立了RV减速机摆线针轮传动副的啮合刚度模型，又根据石川公式建立了渐开线齿轮传动副的啮合刚度模型，在此基础之上，用惯性盘模拟工作负载，建立了RV－6AⅡ减速机5自由度扭转动力学模型，然后通过动特性试验验证了所建模型的正确性，通过试验对渐开线变齿厚传动RV减速机和RV减速机的动态特性进行了比较。     

精密RV减速器输入齿轮轴振动分析

精密RV减速器输入齿轮轴是整机实现两级减速的重要零部件.输入齿轮轴的啮合传动状态直接决定精密RV减速器的传动性能,其模态振动特性对整机动态特性有重要影响.以RV-80E减速器为研究对象,对啮合状态下的精密RV减速器输入齿轮轴进行振动分析.在分析中,对精密RV减速器进行三维建模,通过有限元方法对输入齿轮轴在自由、轴承约束...     

工业机器人RV减速器传动机构误差分析

以工业机器人用RV减速器为研究对象,结合其一级渐开线齿轮减速和二级摆线针轮减速的啮合特性,逐个分析了机构中各主要构件的原始误差对系统输出转角的影响,以此为基础建立了该机构的误差传递分析模型,该模型详细解释了机构的各种原始误差与机构输出误差的对应关系,并以RV40E型减速器为例,进行数值演算和实验分析。结果表明,输出盘轴孔偏心误差对机构输出转角影响最大,摆线轮齿形误差和曲柄轴偏心误差次之,渐开线齿轮机构的误差影响最小,同时输出盘和行星架固连引起的反馈误差在精密的RV传动中也是不容忽视的。     

RV减速器性能试验研究

介绍了RV减速器的主要性能指标,详细介绍了RV减速器启动力矩、传动精度检测原理与装置,通过对比试验的方法研究了单位自主研制的RV减速器的性能,对测试数据进行了分析,在此基础上探讨了提高RV减速器性能的方法。     

新型路面发电装置的设计与初步研究

为解决机动车辆路过路面减速装置时大量压力能被消耗的问题,将液压传动技术应用到路面减速装置中.开展路面发电装置机械结构和液压系统设计的分析,建立机动车辆经过减速装置产生的机械量与液压系统产生的液压能之间的关系,设计了路面减速发电装置.通过对该装置的理论计算,结果表明:此发电装置设计合理,经济效益显著.     

Minimal Realization of Linear Graph Models for Multi-physics Systems

An engineering system may consist of several different types of components,belonging to such physical"domains"as mechanical,electrical,fluid,and thermal.It is t...     

INTEGRAL EQUATION METHOD＇S APPLICATION IN HOLE-EDGE STRESS OF COMPOSITE MATERIAL PLATE WITH DIFFERENT SHAPED HOLES

The strength of composite plate with different hole-shapes is always one of the most important but complicated issues in the application of the composite material. The holes will lead to mutations and discontinuity to the structure. So the hole-edge stress concentration is always a serious phenomenon. And the phenomenon makes the structure strength decrease very quickly to form dangerous weak points. Most partial damage begins from these weak points. According to the complex variable functions theory, the accurate boundary condition of composite plate with different hole-shapes is founded by conformal mapping method to settle the boundary condition problem of complex hole-shapes. Composite plate with commonly hole-shapes in engineering is studied by several complex variable stress fimction. The boundary integral equations are founded based on exact boundary conditions. Then the exact hole-edge stress analytic solution of composite plate with rectangle holes and wing manholes is resolved. Both of offset axis loadings and its influences on the stress concentration coefficient of the hole-edge are discussed. And comparisons of different loads along various offset axis on the hole-edge stress distribution of orthotropic plate with rectangle hole or wing manhole are made. It can be concluded that hole-edge with continuous variable curvatures might help to decrease the stress concentration coefficient; and smaller angle of outer load and fiber can decrease the stress peak value.     

Non-monotonic material contrast in scanning ion and scanning electron images

30 keV Ga⁺ focused ion beam induced secondary electron (iSE) imaging was used to determine the relative contrast between several materials. The iSE signal compared from C, Si, Al, Ti, Cr, Ni, Cu, Mo, Ag, and W metal layers does not decrease with an increase in target atomic number Z₂, and shows a non-monotonic relationship between contrast and Z₂. The non-monotonic relationship is attributed to periodic fluctuations of the stopping power and sputter yield inherent to the ion–solid interactions. In addition, material contrast from electron-induced secondary electron (eSE) and backscattered electron (BSE) images using scanning electron microscopy (SEM) also shows non-monotonic contrast as a function of Z₂, following the periodic behavior of the stopping power for electron–solid interactions. A comparison of the iSE and eSE results shows similar relative contrast between the metal layers, and not complementary contrast as conventionally understood. These similarities in the contrast behavior can be attributed to similarities in the periodic and non-monotonic function defined by incident particle–solid interaction theory.     

Application of Feature Extraction through Convolution Neural Networks and SVM Classifier for Robust Grading of Apples

This paper proposes a novel grading method of apples,in an automated grading device that uses convolutional neural networks to extract the size,color,texture,an...     

分布动态载荷识别的抗噪处理

针对正交多项式频域法在用多种响应对矩形薄板进行载荷识别中抗噪性较差的问题,综合运用平均法、矩阵预处理和奇异值截断法等方法对之进行改善,并引入空间映射的思想,将该方法的应用范围拓展为复杂的模型.利用仿真算例,证实了该方法具有较好的抗噪性.     

基于MELTAC-N平台的核电厂安全级DCS环网研究与测试

针对工程实践中环网通讯相关问题的处理缺乏理论基础及国产化安全级DCS平台的开发缺乏成熟经验借鉴问题,对基于MELTAC-N平台核电厂安全级DCS环网的软硬件实现进行了研究。提出了安全级DCS环网双环网冗余设计、光切换开关设计等硬件设计方法,以及以RPR协议为基础,采用全数据收发策略的软件设计方法。在CPR1000安全级DCS平台上对安全级DCS环网的可靠性及实时性进行了评价,并进行了容错能力、响应时间及响应时间稳定性测试验证实验。结果表明,基于MELTAC-N平台安全级DCS环网软硬件设计具有较好的容错能力及响应时间稳定性。     

Short-Term Relay Quality Prediction Algorithm Based on Long and Short-Term Memory

The fraction defective of semi-finished products is predicted to optimize the process of relay production lines, by which production quality and productivity ar...     

End-to-End Multiview Gesture Recognition for Autonomous Car Parking System

The use of hand gestures can be the most intuitive human-machine interaction medium.The early approaches for hand gesture recognition used device-based methods....     

The laboratory simulation of abrasive wear

Abrasive wear has long been recognised as one of the most potentially serious tribological problems facing the operators of many types of plant and machinery; several industrial surveys have indicated that wear by abrasion can be responsible for more than 50% of unscheduled machine and plant stoppages. Locating the operating point of a tribological contact in an appropriate operational ‚map’︁ can provide a useful guide to the likely nature and origins of the surface degradation experienced in use, though care must be exercised in choosing the most suitable parameters for the axes of the plot. Laboratory testing of materials and simulations of machine contacts are carried out for a number of purposes; at one level for the very practical aims of ranking candidate materials or surface hardening treatments in order of their wear resistance, or in an attempt to predict wear lives under field conditions. More fundamentally, tests may be aimed at elucidating the essential physical mechanisms of surface damage and loss, with the longer term aim of building an analytical and predictive model of the wear process itself. In many cases, component surface damage is brought about by the ingress of hard, particulate matter into machine bearing or sealing clearances. These may be running dry although, more usually, a lubricant or service fluid is present at the interface. A number of standardised wear test geometries and procedures have been established for both two- and three-body wear situations, and these are briefly described. Although abrasive wear is often modelled as following an ‚Archard’︁ equation (i.e. a linear increase in material loss with both load and time, and an inverse dependence on specimen hardness) both industrial experience and laboratory tests of particularly lubricated contacts show that this is not always the case: increasing the hardness differential in an abrasively contaminated lubricated pair may not always reduce the rate of damage to the harder surface.     

ANGULAR DISTORTION ALLOWABLE VALUE AND ASSESS METHOD OF WELD ON COKE TOWER

A graph as the new engineering method for estimate the safety of bulging deformation of coke tower is proposed. Through stresses analysis of circumferential weld of coke tower and comparing the stresses produced by pressure with heat stress of steady state, residual stress, bending stress produced by both itself weight and wind loads, it showed that the stresses produced by pressure on the angle distortion are the main factor of equivalent stress of the combined stress. After comparing four kinds of stress controlling conditions, the relation to stress with depth of angular distortion, grade of curvature of angular distortion and half of region of angular distortion has been inferred. Graph of deformation allowable value of coke tower for different condition by angular distortion and half of region of angular distortion has been plotted. The five steps for its engineering use have been explained. The lighter the grade of curvature is, the larger of bulge allowance, may be, and the bigger of depth of angular distortion may pose too. For the coke tower with a popular structure of Dg 5 400 mm×28 mm, the result by graph is nearly more than the result of two formulas formed by other research, the error is less than 7.0%. But, the graph can be easily applied to different size of angular distortion.