共查询到19条相似文献,搜索用时 156 毫秒
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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。 相似文献
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3自由度柔性微机器人的静刚度分析 总被引:13,自引:3,他引:13
柔性微机器人要求具有很高的定位精度,而其静刚度在很大程度上决定着这一指标。针对目前对柔性微机器人静刚度分析中存在的不足,采用了结构分析中的柔度矩阵法:首先建立起机构中柔性单元的柔度模型,同时通过不同坐标系间的转换和单元节点处位移协调方程和力平衡方程的建立,递推出机器人末端相对参考坐标系下的静刚度矩阵。最后,以3自由度并联柔性微机器人为实例分析了该机器人的静刚度。分析表明:利用柔度矩阵法分析柔性微机器人运动学问题不仅便于计算,更接近柔性机构的本质。 相似文献
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制孔执行器的安装方式对机器人性能的影响 总被引:3,自引:0,他引:3
机器人和多功能末端执行器组成的柔性钻削系统近些年在航空工业得到了越来越广泛的应用,执行器和机器人的安装方式有同轴式、悬挂式和侧面式.利用软件Matlab对机器人和工件进行仿真建模,并计算执行器在不同安装方式下的机器人可达度、可操作度、关节使用度和关节被动力矩.基于计算结果,结合评价指标,分析制孔末端执行器的安装方式对机器人的可达性、可操作性、关节使用度及制孔位置精度的影响,结果表明同轴式安装消除了压紧力对机器人第5轴的被动力矩,有利于提高加工孔的位置精度;悬挂式安装使机器人的可达性好;侧面式安装使机器人的可操作性好,增加了机器人的运动灵活性和减少了关节使用度. 相似文献
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针对6R工业机器人,在机器人连杆刚性的假设下,推导了机器人柔度矩阵。分析柔度矩阵将其划分为四个子矩阵:力—位移柔度矩阵、力—角位移柔度矩阵、力矩—位移柔度矩阵、力矩—角位移柔度矩阵。在非奇异位姿下,单独考虑力矢量(或力矩矢量)对末端线位移(或角位移)的影响,研究使末端产生单位变形时需要在末端施加的作用力,提出机器人力—位移、力—角位移、力矩—位移、力矩—角位移‘刚度椭球’,来表述机器人末端的刚度特性,为机器人刚度研究提供了一种新思路。最后以库卡Kr360机器人为例进行计算。计算表明对于Kr360机器人,在末端作用力矢量、力矩矢量在同一数量级时,可忽略力矩矢量对末端的作用效果。 相似文献
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柔索驱动并联机器人是并联机构中的一种特殊柔性机构,通过使用柔索代替刚性杆驱动末端执行器,其综合了柔性机器人和并联机器人两方面的优点。研究了一种索杆高度可变的3自由度欠约束并联机器人,根据矢量闭环原理,建立该机器人的逆运动学模型;根据柔索的长度,推导该机器人的正运动学模型;采用拉格朗日公式,建立该机器人的动力学模型;利用Monte-Carlo方法,研究该机器人的静力学工作空间;给定末端执行器的运动轨迹,通过机器人的逆运动学模型得出3根柔索的期望长度,以3根柔索的期望长度作为实验输入,得到3根柔索的实验长度曲线和拉力曲线以及机器人的正运动学轨迹。实验结果验证了该机器人的正逆运动学和动力学模型的正确性以及工作空间的有效性。 相似文献
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提出了一种新型幂函数正弦柔性铰链,利用卡氏第二定理推导了柔性铰链的柔度与转动精度计算公式,并取不同参数值对柔度和转动精度进行了有限元仿真分析和理论值计算,相对误差在10%以内,验证了计算公式的正确性;分析了柔性铰链的曲线方程参数对铰链性能的影响。结果表明,最小厚度对柔性铰链的性能影响最大。此外,将椭圆、双曲线与新型铰链进行了对比。结果表明,椭圆柔性铰链的柔度最大,但是转动精度最小;双曲线柔性铰链的转动精度最大,但是柔度最小。通过引入柔度精度比β,分析对比得知,在相同L的情况下,改变d,幂函数正弦柔性铰链的β值分别比椭圆和双曲线柔性铰链平均提高了2.68倍和1.237倍;在相同d的情况下,改变L,幂函数正弦柔性铰链的β值分别比椭圆和双曲线柔性铰链平均提高了2.60倍和1.18倍。表明幂函数正弦柔性铰链的综合性能更有优势。 相似文献
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一种柔性冗余度机器人的动力学优化算法 总被引:3,自引:1,他引:2
提出了一种柔性冗余度机器人的动力学优化算法 ,它采用拉格朗日乘子法 ,既根据复模态算法进行动力学优化以实现机器人末端的振动抑制 ,又可同时进行关节驱动力矩的优化。最后通过对三维四自由度柔性机器人的数值仿真 ,初步验证了这一方法的有效性和良好效果 相似文献
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Marcio Zukin Paulo R. T. Dalcol 《International Journal of Flexible Manufacturing Systems》2000,12(1):5-23
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. 相似文献
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John P. Shewchuk Colin L. Moodie 《International Journal of Flexible Manufacturing Systems》1998,10(4):325-349
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. 相似文献
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软件柔性的概念和度量 总被引:13,自引:0,他引:13
为解决用户需求不断变化的问题,将柔性引人软件工程领域。讨论了软件柔性的相关概念,分析了软件的脆性、刚性、弹性、塑性、韧性和动物性等形态变化特征,提出了柔点、柔力、柔度、柔距及柔量等软件柔性的度量要素,给出它们的计算公式和计算实例;将面向用户的软件柔性划分为潜在柔性、可利用的柔性、已利用的柔性、当前柔性及需求柔性;将软件柔性的层次划分为自柔性、面向低级用户的柔性、面向高级用户的柔性和面向开发人员的柔性。针对信息系统中报表功能的问题,提出了柔性报表系统的思想,并以柔性报表系统为例,对软件的柔性、柔性软件系统及其应用进行了说明。 相似文献
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A Comparison Between Machine Flexibility and Routing Flexibility 总被引:2,自引:0,他引:2
Hitoshi Tsubone Mitsuyoshi Horikawa 《International Journal of Flexible Manufacturing Systems》1999,11(1):83-101
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. 相似文献
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企业生产系统的弹性理论探讨 总被引:3,自引:0,他引:3
论述企业生产系统保有弹性的必要性和可能性,阐明生产系统弹性的概念和内涵,提出生产系统的整体弹性原理、生产弹性和生产均衡性相关原理、生产弹性的经济性原理等。 相似文献
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针对军用航空发动机的状态监测与故障诊断问题,研究了航空发动机的诊断知识动态获取模型及柔性诊断技术。建立了可扩展诊断样本库,实现样本库中故障征兆和故障模式的动态增减,以增加系统的柔性和可扩展性;运用粗糙集理论对样本集进行处理,实现冗余属性的约简、冗余样本的去除及样本冲突的消除;用神经网络通过对处理后的样本集进行学习以动态获取知识,将实际诊断样本输入到训练好的神经网络模型即可得到诊断结果。整个诊断过程具有充分的可扩展性和柔性,当有新样本加入时,按上述步骤进行处理即可实现诊断知识的动态获取和诊断。算例表明了方法的正确性和有效性。 相似文献
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针对冷拔管材的诸多优点,在介绍冷拔技术应用的基础上,根据对弹塑性静力、管材表面的变形、流体动力的润滑和拉拔力的深入研究,对高精度液压柔性冷拔的成形力进行分析,并对其成形原理作了一定的探讨。 相似文献
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SELF-RECONFIGURATION OF UNDERACTUATED REDUNDANT MANIPULATORS WITH OPTIMIZING THE FLEXIBILITY ELLIPSOID 总被引:1,自引:0,他引:1
He Guangping School of Mechanical Electrical Engineering North China University of Technology Beijing China Lu Zhen School of Automation Science Electrical Engineering Beijing University of Aeronautics Astronautics Beijing China 《机械工程学报(英文版)》2005,18(1):92-97
The multi-modes feature, the measure of the manipulating flexibility, and self-reconfiguration control method of the underactuated redundant manipulators are investigated based on the optimizing technology. The relationship between the configuration of the joint space and the manipulating flexibility of the underactuated redundant manipulator is analyzed, a new measure of manipulating flexibility ellipsoid for the underactuated redundant manipulator with passive joints in locked mode is proposed, which can be used to get the optimal configuration for the realization of the self-reconfiguration control. Furthermore, a time-varying nonlinear control method based on harmonic inputs is suggested for fulfilling the self-reconfiguration. A simulation example of a three-DOFs underactuated manipulator with one passive joint features some aspects of the investigations. 相似文献