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Stewart并联机器人局部灵活度与各向同性条件解析 总被引:10,自引:0,他引:10
构造出Stewart并联机器人操作机局部灵活度的解析模型,论证了各种灵活度指标取得极值条件的一致性,揭示出实现局部灵活度各向同性的尺度参数关系。基于对实现位姿能力和灵活度的综合考虑,提出一种尺度参数的综合方法。通过算例论证了若结构参数使得局部灵活度是满意的,则全域灵活度也一定是满意的。 相似文献
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《机械制造》2016,(6)
以冗余八自由度微创手术机器人为研究对象,通过对手术机器人构型,采用D-H法和坐标变换相结合的方法,建立构件固连坐标系对机器人进行正运动学分析,利用蒙特卡罗法方法生成手术机器人的工作空间,满足了机器人的工作要求。以雅克比矩阵条件数的倒数为理论基础,通过MATLAB编制程序,求出微创手术机器人工作空间任意一点的灵活度,用图形仿真出工作空间任一点的灵活度分布以及灵活工作空间,为手术切口位置的布置及手术路径的规划提供了可靠数据。利用全局性能指标GCI作为优化指标,建立了优化目标函数,通过遗传算法进行优化计算,得出影响机构灵活工作空间的最优机构参数,满足了机器人灵活性的要求。 相似文献
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机器人的灵活性是机器人运动学中比较重要的一个性能;本文利用几何构图法和数值分析方法对一种可变形多足移动机器人腿部机构的灵活性进行了分析研究;研究证明了可变形多足移动机器人腿部机构在平面内的灵活度;并通过计算空间自由度,对可变形移动机器人腿部机构在空间内的灵活性进行了初步研究;通过解算几何关系,给出仿真结果;最后依据灵活性分析结果对腿部机构的工作性能和逆解存在状况进行了分析研究。 相似文献
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3-TPT型并联机器人工作空间解析与综合 总被引:4,自引:1,他引:3
以3-TPT并联机构为对象,构造出受杆长和虎克铰约束的工作空间边界及灵活度解析模型。结合灵活度分析,探讨了结构参数对3-TPT并联机器人工作空间的影响规律,提出了一种结构参数设计方法。 相似文献
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提出一种基于KUKA机器人控制器的在线控制方法,用来实时补偿工业机器人在钣金加工中由于自身柔性所产生的加工误差。在已有机器人末端接触力与位置误差关系的基础上,根据机器人控制器自身限制条件和编程语言,设计出简化控制算法和相应的程序,用于对加工中的机器人末端位置进行实时补偿,以达到提升加工精度的目的。该在线实时控制的方法通过实验与分析后,被证实具有一定的可行性。 相似文献
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Fang Lijin Sun Longfei 《The International Journal of Advanced Manufacturing Technology》2017,93(5-8):1637-1650
Application of industrial robots in the field of manufacturing has increased over the years due to their advantages of large workspace, good flexibility and low cost. Industrial robots are trying to replace machine tools for heavy load manufacturing, for instance, friction stir welding (FSW). However, the stiffness of industrial robots is weak which affects the manufacturing precision seriously as well as driving backlash. This paper presents a novel robotic arm with non-backlash that used for FSW process. First, the structure of the robot and how to eliminate the backlash of the robot are introduced. Secondly, a semi-analytical method based on strain energy and the equivalent stiffness of bars obtained by finite element analysis (FEA) is proposed for calculating the overall stiffness of the robot, and the effectiveness of the method is verified through the integrated FEA results. Finally, a FANUC S900iB/400 robot that used for FSW is selected as a representative of industrial robots to be compared, the stiffness of the robot presented in this paper is better than the FANUC robot, which is beneficial to improve the welding quality. 相似文献
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依据现有的欠驱动理论,结合摩擦盘运动分解合成机构,设计出一种欠驱动蛇形机器人模块,并研究其运动规律。通过分析研究表明运用这样的摩擦盘传动机构作为关节模型,可以建立起欠驱动蛇行机器人模块。由于采用了欠驱动方式使得结构紧凑,有利于降低机身的重量;使其具有更大的灵活性和适应性,对蛇形机器人走向实用具有重要的意义。 相似文献
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为满足足式机器人跑跳等动态运动对关节柔性及其变刚度特性的迫切要求,借鉴生物关节柔性特征与主被动刚度调节机理,创新地提出了一种基于凸轮机构的新型变刚度仿生柔性关节。基于关节刚度特性分析,构建了关节整体刚度模型,并针对影响关节刚度特性的各结构参数开展了系统优化设计,研制出了一款紧凑型高集成度关节样机。关节样机性能实验结果表明,基于凸轮机构的变刚度仿生柔性关节具备理想的关节输出力矩与刚度调节范围,可通过关节固有刚度特性与动态刚度特性的主被动融合控制,实现关节瞬时刚度的动态非线性精确调节,能够满足机器人动态运动对关节柔性与刚度的需求。 相似文献
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针对电网巡检机器人存在避障能力低下和路径规划不合理的问题,研究基于时间栅格法和最优搜索的电网巡检机器人避障路径规划方法.利用时间栅格法标识工作空间内障碍物,构建机器人电网巡检环境信息,通过最优搜索避障路径算法,全局规划机器人到达目标点的路径,结合改进势场法,通过调整斥力和引力势函数,计算合力实现机器人的局部避障及避障路径规划,形成全局和局部相结合的避障方法.试验结果表明,躲避静态障碍物和动态障碍物的平均躲避成功率分别为 98.37% 和 96. 12% ,避障路径规划平均耗时为 1.56 s ,具备快速、高效、精准的避障及路径规划能力,可提升机器人的动静态障碍物避障能力和路径规划效率. 相似文献
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Kyu Bum Han Hae Young Kim Yoon Su Baek 《Journal of Mechanical Science and Technology》2001,15(8):1097-1107
In this paper, the wall following navigation algorithm of the mobile robot using a mono vision system is described. The key points of the mobile robot navigation system are effective acquisition of the environmental information and fast recognition of the robot position. Also, from this information, the mobile robot should be appropriately controlled to follow a desired path. For the recognition of the relative position and orientation of the robot to the wall, the features of the corridor structure are extracted using the mono vision system, then the relative position, the offset distance and steering angle of the robot from the wall, is derived for a simple corridor geometry. For the alleviation of the computation burden of the image processing, the Kalman filter is used to reduce search region in the image space for line detection. Next, the robot is controlled by this information to follow the desired path. The wall following control scheme by the PD control scheme is composed of two control parts, the approaching control and the orientation control, and each control is performed by steering and forward-driving motion of the robot. To verify the effectiveness of the proposed algorithm, the real time navigation experiments are performed. Through the result of the experiments, the effectiveness and flexibility of the suggested algorithm are verified in comparison with a pure encoder-guided mobile robot navigation system. 相似文献
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Seifeddine Mejri Vincent Gagnol Thien-Phu Le Laurent Sabourin Pascal Ray Patrick Paultre 《The International Journal of Advanced Manufacturing Technology》2016,82(1-4):351-359
Machining robots have major advantages over cartesian machine tools because of their flexibility, their ability to reach inaccessible areas on a complex part, and their important workspace. However, their lack of rigidity and precision is still a limit for precision tasks. Innovations and design optimization of robotic structure, links, and power transmission allow robot manufacturers to propose business solutions for machining applications. Beyond accuracy problems, it is also necessary to quantify the vibration phenomena that may affect, as in machine tools, the quality of machined parts and the tools and spindle lifespan. These vibrations occurred at specific machining conditions depending on robot and spindle dynamic properties. The robot’s posture evolved significantly in its workspace and induces dynamic’s changes observed at the tool tip that in turn impact the stability of the machining process. The objective of this paper is to quantify the dynamic behavior’s variation of an ABB IRB 6660 robot equipped with a high-speed machining (HSM) spindle in its workspace and analyze the consequences in terms of machining stability. Through an experimental modal characterization, significant variability of modal parameters is observed at the tool tip and impacts the stability of machining. The results show that an adjustment of the cutting conditions must accompany the change of robot posture during machining to ensure stability. 相似文献
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针对卫星特殊部件的装配需求,为了使机器人具有适用不同工况的柔性并在卫星多变的装配工况中获得较高的应用效率,本文研究视觉引导与力反馈控制下的机器人装配技术,给出一种视觉与力觉结合的机器人装配方案:在装配孔位安装辅助销钉,通过视觉引导将部件引导至销钉的锥面导向范围内,而后在销钉导向下对机器人采用力反馈控制,实现工件的准确装配到位。采用红外相机结合合作靶标的方式实现稳定地视觉识别与目标定位,设计了探针式测量工具,并给出测量方法,实现了目标点位的柔性便捷测量。给出了一种已知空间对应点对条件下,求位姿变换矩阵及机器人目标位姿的计算方法。采用力/位混合控制方法实现柔顺销钉导向控制。实验结果表明:装配对应孔位的测量匹配误差在2.9 mm以内,机器人在视觉引导下,可以将工件运送至销钉的导向范围内,并在销钉导向及力反馈控制下将工件准确装配到位,力控制阈值为30 N。证明了本文所采用的技术可以满足卫星部件装配的工程实施要求。 相似文献
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针对空气介质功分网络绝缘支撑的贴装,设计了绝缘支撑自动贴装系统。该自动贴装系统由四自由度直角机器人、贴装头、涂胶机构、送料机构和控制系统组成,其中,贴装数据表的设计增加了该贴装系统的柔性。该自动贴装系统经过实际应用,证明比手工装配提高了效率和贴装精度。 相似文献