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介绍了精密1号装配机器人控制系统体系结的设计与实现。精密1号机器人是国家863计划智能机器人主题立项研究的一台SCARA结构的4轴装配机器人型号样机,它采用直接驱动技术,具有较高的运动速度和定位精度,配有高性能的视觉和力觉传感器,控制系统以Intel公司的iSBC386/12系理计算机和iRMXⅢ实时多任务作系统为基础,采用上,下两级分布式计算机结构。控制系统除具有一般的机器人控制器的功能外,还具 相似文献
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介绍了大行程超精密二自由度机器人末端操作器及其驱动器。用研制的该二自由度机器人末端操作器与通用工业机器人PUMA562配合完成了精密装配作业,成功地提高了PUMA562的响应和定位精度。最后介绍了该操作器的应用前景。 相似文献
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机器人宏/微操作系统精密配作业的研究 总被引:1,自引:0,他引:1
介绍了具有力觉功能的机器人微驱动末端操作器与普通工业机器人PUMA562组成的机器人宏/微操作系统。该操作系统不仅具备PUMA机器人运动范围大、速度快的优点,而且更具有微操作器工作精度高、频响快的优势。宏/微操作系统在我们开发的轴-孔装配策略的控制下成功地完成了精密装配作业。 相似文献
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机器人精密装配实验系统的研究 总被引:1,自引:0,他引:1
介绍了由作者研究的仿生型超精密平面驱动器BUPA、机器人微驱动末端操作器FPWM和具有主被动适应功能的主从微操作器APMM,将它们与普通的工业机器人组成宏/微操作系统,分别成功地完成了机器人自动精密配作业。 相似文献
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仿生型超精密平面驱动器及控制器的研究和应用 总被引:1,自引:0,他引:1
介绍了仿生型超精密平面驱动器和HROP系列控制器。用研制的仿生型超精密平面驱动器与普通的工业机器人组成宏/微操作系统,完成了精密装配作业。并介绍了该驱动器的应用情况和发展前景。 相似文献
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一种弧焊机器人实时激光扫描视觉系统 总被引:2,自引:0,他引:2
研制了一种小型高精度弧焊机器人实时激光扫描视觉系统,对其各项性能进行了测试,并进行了抗电弧光干扰试验,结果表明,此系统精度高,抗干扰能力强,检测范围宽,能广泛地应秀于机器人和自动化焊接中。 相似文献
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The paper is concerned with the development of an adaptive robotic arc welding system for the production of high integrity, full penetration butt welds from one side. Development of statistical process models and computer simulation of an adaptive strategy incorporating the models is discussed. Practical implementation of the strategy in a robot welding system, utilizing a commercial sensor and standard industrial robot is described. 相似文献
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《国际设备工程与管理》2016,(1)
In this paper,we study a STM32F4 as the core of the bionic design and implementation of embedded mobile robot. Bionic robot based on color sensor TCS3200 contacts surface color data sending instructions,by the PWM wave to control the robot body tricolor LED color to achieve the surrounding color. Proven by a lot of experimental data,the bionic robot designed in this paper possesses the advantages of high stability and high accuracy,and bionic robot has completely independent behavior. 相似文献
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Combining triboelectric nanogenerator (TENG) and textile materials, wearable electronic devices show great application prospects in biomotion energy harvesting and multifunctional self-power sensors in this coming intelligent era. However, fabrication method by rigidly stitching two or more individual fabrics together and working mode that must cooperate with external materials, make textile-based TENG bulky, stiff, uncomfortable and hinder their range of application. Here, by using a double needle bed flat knitting machine technology, a 3D double faced interlock fabric TENG (3DFIF-TENG) is designed as self-powered, stretchable and substrate-free wearable TENG sensors (such as a bending sensor to detect arm bending degree, pressure sensors) and energy harvesting devices. Besides, due to the unique 3D structure and after improving the structure by knitting a woven fabric-TENG in the middle layer, the 3DFIF-TENG can be further used as a multifunctional sensors, such as a 3D tactile sensor. Besides, by knitting a woven fabric-TENG in the middle layer of the 3DFIF-TENG, it can be further used as a multifunctional sensor, such as a 3D tactile sensor. The substrate-free and 3D structure design in this paper may provide a promising direction for self-powered, stretchable wearable devices in energy harvesting, human motion or robot movement detection, and smart prosthetics. 相似文献
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《IEEE transactions on instrumentation and measurement》1985,34(3):458-460
Robot manipulators will require a wide range of sensory systems if they are to become more widely useful. In this communication we describe a novel robot sensor designed to measure some of the thermal properties of a gripped object. A mathematical model of the sensor is proposed and validated by comparing predicted and measured sensor responses for a range of differing materials. The mathematical model can be used to analyze the sensor output and determine the thermal conductivity and thermal diffusivity of an unknown object held by the robot manipulator. This information will enable robot systems to discriminate between objects made of different materials and to aid recognition of unknown objects by providing information about their material structure. 相似文献
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Three-dimensional (3D) shape acquisition is difficult if an all-around measurement of an object is desired or if a relative motion between object and sensor is unavoidable. An optical sensor principle is presented-we call it "flying triangulation"-that enables a motion-robust acquisition of 3D surface topography. It combines a simple handheld sensor with sophisticated registration algorithms. An easy acquisition of complex objects is possible-just by freely hand-guiding the sensor around the object. Real-time feedback of the sequential measurement results enables a comfortable handling for the user. No tracking is necessary. In contrast to most other eligible sensors, the presented sensor generates 3D data from each single camera image. 相似文献