曲线孔电火花加工机器人控制系统的研究

在分析研究曲线孔电火花加工机器人机构组成与工作原理的基础上,研制出了曲线孔电火花加工机器人控制系统,介绍了该控制系统的软、硬件组成及设计原理。采用该机器人控制系统可加工形状较为复杂的空间曲线孔。     

曲线孔电火花加工机器人加工运动轨迹模拟

该文论述了曲线孔电火花加工机器人的机构组成和蠕动原理,采用面向对象技术和Visual C＋＋6语言开发出了曲线孔电火花加工机器人的加工运动轨迹模拟系统,采用该系统可方便地模拟出电火花加工机器人加工任意曲线孔时的运动姿态和运动轨迹。     

曲线孔电火花加工机器人加工运动轨迹模拟

该文论述了曲线孔电火花加工机器人的机构组成和蠕动原理,采用面向对象技术对VisualＣ＋＋６语言开发出了曲线孔电火花加工机器人的加工运动轨迹模拟系统,采用该系统可方便地模拟出电火花加工机器人加工任意曲线孔时的运动姿态和运动轨迹。     

曲线孔电火花加工机器人实时动画仿真

采用面向对象技术和VisualC++6.0语言开发出曲线孔电火花加工机器人实时动画仿真系统,并对该仿真系统的结构和实现情况进行了介绍.该仿真系统可方便地模拟出对曲线孔电火花加工机器人的加工和运动状况,为生产实践中开发曲线孔加工技术及其机器人提供了参考依据.     

曲线孔电火花加工机器人实时动画仿真

采用面向对象技术和ＶisualC 6.0语言开发出曲线孔电火花加工机器人实时动画仿真系统,并对该仿真系统的结构和实现情况进行了介绍,该仿真系统可方便地模拟出对曲线孔电火花加工机器人的加工和运动状况,为生产实践中开发曲线孔加工技术及其机器人提供了参考依据。     

仿蚯蚓机器人蠕动装置驱动电路的设计

在对仿蚯蚓机器人蠕动装置的工作原理及曲线孔电火花加工特点等进行分析研究的基础上,采用脉宽调制技术设计出了蠕动装置的驱动电路,该电路具有结构简单、工作可靠等优点。     

电火花毛化加工的电流和间隙控制系统

通过分析电火花放电原理,论述了电火花毛化加工的电流控制系统和间隙控制系统。该电流控制系统和间隙控制系统在电火花毛化床上得到实际应用,可以满足轧辊毛化生产的需要,是一种较为稳定可靠的控制系统。     

仿蚯蚓机器人蠕动装置的研究

仿照蚯蚓在孔内蠕动的过程,研制了一种在孔内行 走的机器人驱动装置．该装置主要由形状记忆合金(SMA)胀紧环, SMA螺旋弹簧和偏压弹簧等 组成．它可以在孔内象蚯蚓一样实现径向胀紧、纵向收缩、纵向伸长等动作．SMA元件的动 作可以靠通、断电来实现,SMA胀紧环通电时与孔壁贴紧,断电时松开;SMA螺旋弹簧通电时 收缩,断电时由偏压弹簧使其伸开．其动作过程由计算机控制和协调．该驱动装置结构简单 ,体积小、重量轻、柔韧性好、控制方便．该装置在电火花弯孔加工中得到了实际应用．本 文介绍了该装置的组成、工作原理、设计要点和控制方式．     

油井电火花解堵机器人控制系统设计研究

本文对电火花解堵机器人进行控制系统的设计研究.控制系统采用Motomla单片机作为控制芯片,具体介绍了硬件电路以及软件程序的设计过程.通过地面试验,该控制系统可正常工作,拥有较高的应用价值.     

一种可载人行走的双轮机器人

研制了一种具有动平衡和载人行走能力的双轮机器人样机．介绍了机器人的工作原理和机构组成,分 析了机器人的动态行走特性,设计开放式控制系统,提出了由电流环、速度环和位置环组成的三回路控制策略．该 机器人具有体积小、结构紧凑、安全性高的特点．实验结果表明,该机器人具有载人行走的能力,能够有效地实现 机器人的动态平衡控制．     

SolidWorks二次开发曲面离线编程及运动仿真

为了解决人手动示教提取曲面轨迹困难且操作繁琐的问题,采用Visual Studio对SolidWorks软件进行二次开发的方式进行机器人的曲面离线编程,并且以DLL插件的形式自动加载到SolidWorks中.系统通过将曲面进行UV参数化进而实现离线轨迹的快速提取和机器人控制代码的生成,再以DH参数表示机器人模型,最后通过遍历关节角的方式实现机器人的运动仿真.实践证明,该系统离线编程生成的控制代码能够直接下载到机器人控制器运行并达到了实际预期的效果.上述系统对工业场合的实际开发应用和国内中小型企业快速加工多种零件具有重要的意义.     

A parallel machining robot and its control method for high-performance machining of curved parts

The curved part with open-and-close angle conversion features is a kind of well-known difficult-to-machine part. Using traditional five-axis serial machine tools (SMTs) may cause efficiency and accuracy reduction at open-and-close angle conversion regions because of the singular points in their orientation workspace. How to achieve high-efficiency and high-precision machining of this kind of curved part is a challenging issue in the field. In order to solve this problem, a parallel machining robot (PMR) with five degrees of freedom (DoFs) is developed. Accordingly, the attitude coupling adjustment mechanism of the developed PMR is disclosed, which indicated that a small change of the tool orientation will never lead to a large range motion of the driving limbs. Thus the robot has the potential to pass through open-and-close angle conversion regions smoothly. In order to take full use of the advantages of the developed PMR in attitude adjustment, a control method is proposed by fitting tool orientation spline in unit spherical coordinate system. On this basis, toolpath planning and machining experiments are carried out to verify the performance of the developed PMR and the proposed control method when machining parts with open-and-close angle conversion features. Experimental results demonstrate that the developed machining robot integrated with the proposed control method can improve the machining efficiency and accuracy significantly when compared with the SMT. This proves that the attitude coupling motion property of PMRs can solve the difficulty in high-performance machining of open-and-close angle conversion features. The findings of this study fundamentally provide a feasible way to overcome the abnormal phenomena when machining curved parts with open-and-close angle conversion features.     

基于Vision Card的机器人舵机高精度数字控制技术

针对目前机器人舵机控制技术调控性能差,工作过程不稳定的问题,引入Vision Card研究了一种新的高精度数字控制技术。同时分析Vision Card工作原理和机器人舵机控制原理,将二者融合,从视觉角度完成舵机控制。分别针对直流电机、驱动器和反馈电位器进行控制,通过计算直流电机的传递函数、反馈电位器上的电压和总行程,得到脉冲宽度调制（PWM）的电脉冲,利用得到的电脉冲来控制舵机。为验证控制技术有效性,与传统的开环控制技术、PID控制技术和模糊PID控制技术进行实验对比,结果表明,研究的控制技术稳定性高,调控性能好,可以有效提高机器人舵机的工作效率,保障机器人舵机的工作质量。     

Time-optimal tool motion planning with tool-tip kinematic constraints for robotic machining of sculptured surfaces

A time-optimal motion planning method for robotic machining of sculptured surfaces is reported in this paper. Compared with the general time-optimal robot motion planning, a surface machining process provides extra constraints such as tool-tip kinematic limits and complexity of the curved tool path that also need to be taken into account. In the proposed method, joint space and tool-tip kinematic constraints are considered. As there are high requirements for tool path following accuracy, an efficient numerical integration method based on the Pontryagin maximum principle is adopted as the solver for the time-optimal tool motion planning problem in robotic machining. Nonetheless, coupled and multi-dimensional constraints make it difficult to solve the problem by numerical integration directly. Therefore, a new method is provided to simplify the constraints in this work. The algorithm is implemented on the ROS (robot operating system) platform. The geometry tool path is generated by the CAM software firstly. And then the whole machine moving process, i.e. the feedrate of machining process, is scheduled by the proposed method. As a case study, a sculptured surface is machined by the developed method with a 6-DOF robot driven by the ROS controller. The experimental results validate the developed algorithm and reveal its advantages over other conventional motion planning algorithms for robotic machining.     

Automation of chamfering by an industrial robot; for the case of hole on free-curved surface

The study deals with the automatic chamfering for the case of hole on free-curved surface on the basis of CAD data, using an industrial robot. As a chamfering tool, a rotary-bar driven by an electric motor is mounted to the arm of the robot having six degrees-of-freedom in order to give an arbitrary position and attitude to the tool. The robot control command converted from the chamfering path is transmitted directly to the robot. From the experimental results, the system is found effective to remove a burr along the edge of a hole on a workpiece with free-curved surface.     

仿蚯蚓打孔机器人的仿真系统

在分析研究仿蚯蚓打孔机器人工作原理的基础上,研制出了仿蚯蚓打孔机器人仿真系统,并对该仿真系统的结构和编程原理进行了介绍。     

用PLC与经济数控实现活塞仿形机床的控制

本文阐述了活塞外圆和端面硬靠模加工及头部倒角的工作原理,详细介绍了采用可编程序控制器和经济型数控系统联合实现电气控制的具体方案,给出了电气控制系统的硬件电路图、程序流程图。该方案解决了可编程序控制器与数控制系统的协调工作问题,实现了活塞外圆的硬靠模仿形粗车与精车、换刀、硬靠模车端面、头部倒角、主轴高低速切换等功能的自动控制,并且能够实现主轴定位准停、工件夹紧、吹扫、故障报警等控制功能。