滚珠丝杠舵机应用问题研究

针对导弹用滚珠丝杠舵机,以提高可靠性,减小结构尺寸为原则,对舵机结构进行设计与分析。首先,为提高系统可靠性,选用内循环式滚珠丝杠副作为传动元件。其次,在分析传动间隙产生原因的基础上,对丝杠采用两端支撑的方式,提高了系统支撑刚度、减小轴向间隙;并采用等强度原理对丝杠连接方式进行设计,计算结果在结构最小情况下满足强度要求。最后,对舵机关键部件进行分析,推导出丝杠驱动力矩、传动比和空心轴孔径的精确计算公式,并对螺母连接方式进行设计。结果表明,对滚珠丝杠舵机设计提供了一定的理论指导。     

滚珠丝杠副选型设计中的热变形问题

滚珠丝杠的设计选用一般按照其运动学和动力学条件进行.而在使用中高速工况滚珠丝杠热变形问题是不容忽视的,会严重影响丝杠的传动精度.设计选用滚珠丝杠时就应考虑其发热量问题.滚珠丝杠发热主要与预紧力、螺旋升角及摩擦状态有关,设计选用时应根据不同工况对这些参数综合考虑,合理选择.     

重载旋压机滚珠丝杠副的研究

基于航天大型筒形零件的旋压加工要求,对旋压机的超长、超重、高精度的纵向进给系统进行了分析设计,提出了双驱动螺母旋转型滚珠丝杠副的进给方案;根据给定的设计载荷,结合滚珠丝杠副的设计准则,初步确定了滚珠丝杠副的关键参数;建立了丝杠-滚道坐标系,对滚珠进行了受力分析;基于Hertz理论,研究了滚珠的接触变形;利用MATLAB软件对相关参数进行了分析;根据分析结果优化了滚珠丝杠副的设计参数。     

加工中心丝杠冷却结构的设计与试验

滚珠丝杠副是加工中心传动的重要功能部件,降低丝杠温升的影响是加工中心设计中的一个重要课题。对加工中心丝杠的热源进行分析,并介绍了热传导原理。设计了一端进油一端出油、同一端进出油、螺母冷却等加工中心丝杠冷却结构,并基于不同冷却结构进行了温升测试,对比冷却效果。     

滚珠丝杠副精度保持性试验台测控系统设计

针对滚珠丝杠副精度保持性试验的要求,对丝杠精度保持性试验台测控系统设计进行了研究。介绍了滚珠丝杠副精度保持性试验装置的组成结构,根据试验装置所需要实现的功能进行分析,主要分析了试验台加载控制系统、电机控制系统以及参数测试系统的设计,并提出了测控系统硬件图以及软件的设计方案。该测控系统的设计方法为滚珠丝杠副精度保持性试验的进行提供了软硬件基础。     

往复丝杠的设计方法

首先介绍了往复丝杠的工作原理,分析了往复丝杠设计的关键点,随后介绍了双向丝杠的设计过程,最后通过实例用该设计方法设计了一个往复丝杠,并使用ANSYS进行了校核,结果证明该设计方法有效可行。     

抽油机平衡装置中传动丝杠的设计与稳定性分析

对抽油机平衡装置中的关键传动部件——传动丝杠进行了研究。在参数设计和三维建模的基础上,理论计算了传动丝杠的受压稳定性,并应用ANSYS Workbench有限元软件对传动丝杠进行了静力学和线性屈曲分析,确认理论计算值与模拟分析值基本一致,同时求出了传动丝杠可以承受的临界屈曲值,为传动丝杠在工程中的应用及优化提供了技术参考。对传动丝杠还进行了现场测试,进一步验证了其工作稳定性。     

数控机床滚珠丝杠CAD系统的开发

通过对数控机床滚珠丝杠设计理论的分析,提出了滚珠丝杠的计算机辅助设计方法,并开发出CAD系统,提高了滚珠丝杠设计效率和设计质量。设计实例表明,数控机床滚珠丝杠CAD系统具有一定的工程实际意义。     

二级剪叉式丝杠升降机构受力分析

设计了二级剪叉式丝杠升降机,完成了三维造型和运动仿真模拟,并对二级剪叉式丝杠升降机构进行了动力学分析,利用虚位移原理推导升降机台面载荷和丝杠推力之间的关系公式;通过对整机和单个剪叉杆的受力分析,建立了二级剪叉式丝杠升降机构的力学模型。以一台大型升降机为例,分析剪叉杆的受力情况,利用MATLAB软件计算剪叉杆的受力大小,并对剪叉杆的强度进行校核。经现场实际测试验证,该二级剪叉式丝杠升降机结构稳定。为剪叉式丝杠升降机的设计分析提供了理论。     

往复丝杠的设计方法

本文首先介绍了往复丝杠的工作原理,分析了往复丝杠设计的难点,随后介绍了双向丝杠的设计方法,其中引用了一些经验参数。随后分析和研究了转向转向滑块的外形结构。最后通过实例设计了一款双向往复丝杆,并使用ansys对其工作中的受力状况较差的一段行程进行了仿真校核,结果证明该设计方法可以设计出满足使用要求的往复丝杠。     

基于PMAC面向染液自动配液系统定位平台的设计

以机电一体化的设计思路设计了一台能够处理36种母液的自动配液机。该设备机械主体部分为龙门式三维机器人结构和机械夹持器,其传动装置采用是同步带传动和滚珠丝杠,导向装置为滚动直线导轨。设计以PMAC（Programmable Multi-Axis Controller）可编程多轴控制器（PMAC内置PLC功能）作为CNC模块,工控为系统支撑单元的开放式数控系统,能够实现自动配液机精密运动。     

Development of mesoscopic polymer gripper system guided by precision design axioms

A prototype mesoscopic gripper system with mechanism made of polyurethane (PU) is designed, fabricated, and tested. By following precision design axioms, the mesoscopic gripper system including gripper mechanism, actuator subsystem, and sensor subsystem is designed and developed. The compliant gripper mechanism is fabricated and the load-deflection behavior is measured. The mesoscopic mechatronic gripper system is finally integrated and tested. The gripper dynamics is identified and the system specifications are listed. The application of the gripper system for the pick and place of an IC chip is tested.     

A precision robot system with modular actuators and MEMS micro gripper for micro system assembly

A robotic system which consists of a precision manipulator and a micro gripper for a micro system assembly is presented. The developed P-R-R type 3 DOF robot is actuated by newly proposed modular revolute and prismatic actuators. As an end-effector of this manipulator, a micro gripper is designed and fabricated with MEMS technology, and the displacement of the jaw is up to 142.8 μm. A real gripping test is conducted to evaluate the robotic system.     

IPMC型柔顺手爪作动器的设计与性能测试

为克服传统手爪机构传动链多,耗能大,结构复杂等缺点,设计并制作了一种应用电致动智能材料(IPMC)的柔顺手爪。运用Pro/E软件设计IPMC手爪的主体结构,并分析其运动过程,最终装配完成IPMC手爪;运用激光位移传感器,精密电子秤和Canon相机测试了研制的4片IPMC驱动薄膜的末端位移,端部力和平均运动速度,并通过Labview测试系统对其进行采样和分析。实验结果表明:IPMC手爪驱动元件的角位移在3V电压激励下超过了180°(-3V电压下负向位移与+3V电压下正向位移之和);其末端位移大小为其自身(除固定部分外)总长;手爪驱动薄膜每片重量约为0.5mg,可抓握质量为1.6g左右的物体。该手爪结构简单、位移大、耗能低;同时,由于IPMC的柔顺特性,在抓取物体时它会贴附在其表面,而不破坏其表面精度。因此,这种手爪适用于抓取表面粗糙度要求高的物体。     

基于柔性并联连续体的灵巧操作手的设计及分析

提出了一种新型4-DOF柔性并联连续体机构，将该机构与末端绳驱动的抓手相结合，设计完成具有灵活抓取性能的操作手。将该柔性机构通过柔性支链等效的方式等效为传统刚性连杆的并联机构，并且运用螺旋理论对该机构进行自由度分析；采用经典的Cosserat Rod模型对机构进行运动学建模；通过对比分析三种并联连续体机构的可操作度，4-DOF并联连续体机构由于具有一个额外的扭转自由度，使得操作手能够更加灵活地抓取物体，在此基础上给出了一组操作手抓取的仿真实例。最后通过试验验证机构自由度以及运动学模型的数值解，并且实现操作手灵活抓取的性能。     

The systematic design and fabrication of a three-chopstick microgripper

In this study, we constructed a new type of gripper for micron-sized objects using piezoelectric multi-layer benders. This new gripper is composed of three chopsticks: two are designed to grip micro-objects, and the third is used to help grasp and release the objects. It is well known that a micro-object is much easier to grasp than to release. Electrostatic, van der Waals forces and surface tension between the chopsticks and object are believed to be the main causes of adhesion. We introduced a third auxiliary chopstick to overcome these surface effects and to reduce the electrostatic forces between the object and chopsticks. All three chopsticks were made of tungsten wires with ends sharpened by etching, which minimises the van der Waals effect. We constructed a three-chopstick gripper for micro-objects and tested its functionality by holding and releasing a 100-micron diameter object. The experiment showed that the third auxiliary chopstick functions effectively.     

Design of a gripper system for tendon-driven telemanipulators considering semi-automatic spring mechanism and eye-in-hand camera system

Tendon-driven mechanisms are adopted in remote handling manipulators to reduce the weight of the distal parts of the manipulator while maintaining the handling performance. This study considered several approaches to the design of a gripper system for telemanipulators. According to the requirements of the specified tendon-driven mechanism, the connecting position of the spring system on the gripper mechanism was obtained, and kinematic influence coefficient analysis was performed to select the proper spring stiffness. The results showed that the tension force generated by the selected spring module is relatively constant in the gripper’s motion range; the spring module is advantageous for the semi-automatic gripper motion of servo-based tendon-driven manipulators performed in non-accessible experimental facilities which handles many types of sensitive measuring devices with hazardous materials. The motion performance of the proposed gripper module was comparatively verified with a commercialized gripper system which has similar specifications. Additionally, an eye-in-hand camera was also designed to obtain an active-view through a gripper for efficient teleoperation. This gripper system uses a modular-type camera head that can be changed remotely and a proper camera angle to achieve an intuitive view of the remote site. The designed camera system was tested in a large-scale confined cell facility remotely and verified the practical usability for remote handling manipulators.

     

Design and analysis of the gripper mechanism based on generalized parallel mechanisms with configurable moving platform

Generalized parallel mechanisms with a configurable moving platform have become popular in the research field of parallel mechanism. This type of gripper mechanism can be applied to grasp large or heavy objects in different environments that are dangerous and complex for humans. This study proposes a family of novel (5 + 1) degrees of freedom (three translations and two rotations plus an additional grasping motion) gripper mechanisms based on the generalized parallel mechanisms with a configurable moving platform. First, the configurable moving platform, which is a closed loop, is designed for grasping manipulation. The hybrid topological arrangement is determined to improve the stiffness of the manipulator and realize high load-to-weight ratios. A sufficient rule based on Lie group theory is proposed to synthesize the mechanism. The hybrid limb structure is also enumerated. A family of novel gripper mechanisms can be assembled through the hybrid limbs by satisfying the rule. Two examples of the gripper mechanisms with and without parallelogram pairs are shown in this study. A kinematic analysis of the example mechanism is presented. The workspace shows that the mechanism possesses high rotational capability. In addition, a stiffness analysis is performed.     

具有柔性抓手的四旋翼飞行器设计与实现

为了实现四旋翼飞行器与外界环境的交互,设计了一种具有柔性抓手的四旋翼飞行器系统,该系统主要由四旋翼飞行器和柔性抓手组成。首先对四旋翼飞行器的原理进行了阐述,然后对其进行了建模和姿态解算,并且采用串级PID算法实现了四旋翼飞行器稳定飞行; 其次,对柔性抓手的设计与制造过程进行了介绍,并且对柔性抓手进行了抓取测试; 最后,在室外环境对系统进行了测试。测试结果表明,设计的四旋翼飞行器及柔性抓手性能稳定可靠,两者结合可以实现空中的抓取和投放。     

微尺度缝针自动夹持器的设计

根据角膜缝合手术的特点,并结合微尺度缝针自动夹持器的技术要求,文中对一种自动夹持器的结构进行了设计。通过赫兹理论讨论了两圆柱体间的接触问题,并利用有限元分析方法对夹持器模型进行了分析,取得了缝针在不发生塑性变形条件下,夹持器直线运动关节的极限位移,为夹持器的控制提供了依据。最后进行了夹持器夹持缝针的试验,试验结果验证了这种夹持器的可行性和实用性。