共查询到19条相似文献,搜索用时 140 毫秒
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应用现代微分几何的方法,分别将二自由度机器人的轨迹弧长和动能定义为黎曼度量指标。对黎曼曲面上的测地线和黎曼曲率进行了定量分析,利用曲面上的测地线和黎曼曲率的几何性质,提出基于测地线的最优轨迹规划方法和基于黎曼曲率的工作空间优化方法,并以平面2R机器人为例进行了实例计算。 相似文献
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用 R.P.Paul的动力学分析方法对 2 P-1P3 R双臂机器人进行了动力学研究 ,推导出各关节驱动力或力矩的公式。用切削原理的方法结合微分几何的理论求解切削力。用 MATLAB语言开发出求各关节最大驱动力或力矩的软件 ,并进行了实例数值计算 相似文献
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双臂异形石材加工机器人的速度和加速度协调 总被引:3,自引:0,他引:3
用微分几何理论和D-H法研究了2R-1P3R 双臂机器人用于异形石材加工的速度协调和加速度协调,导出了由工艺给定的切削加工速度求解各关节运动速度和加速度的计算公式。使计算机能用这些公式进行计算并控制各关节的速度,满足刀具作业点相对于工件表面作匀速切削加工的要求,该机器人能用于实际切削工作。 相似文献
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基于回转键合图理论 ,推导出便于计算机自动生成的机器人系统状态方程的统一表达式 ,克服了非线性几何约束及微分因果关系给建立机器人系统状态方程所带来的代数环问题。所述方法特别适合于多能域并存的系统。结合具体实例给出机器人机构系统键合图表达方法 ,并说明本文方法的有效性 相似文献
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Results of the analysis of hybrid (aerostatic and aerodynamic) taperedland ournal bearings are presented. For a known bearing geometry, the Reynolds equation is reduced to a set of partial differential equations by using a first-order perturbation method. These differential equations are solved by a finite-difference numerical technique. The effects of various design and operational parameters on the load-carrying capacity and the attitude angle of the bearing were studied. The results are expressed in terms of non-dimensional parameters to enable their direct use for design purposes. 相似文献
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H.-Y. Lai C.-K. Chen D.-S. Wu 《The International Journal of Advanced Manufacturing Technology》2001,18(8):553-566
This paper presents a new circular helicoidal surface meshing model for producing high transmission performance lead screws.
The formulation of the meshing model includes the analytical derivation of the helicoidal surface equation and the profile
equations of revolving and non-revolving conjugate elements. These surface profile equations are derived and presented using
several different theories and techniques including coordinate transformation, differential geometry and meshing principles.
Since the meshing model is constructed systematically by rigorous differential geometry and meshing theories instead of the
simple techniques of analytical geometry, the lead screw model thus built can lead to better transmission quality and higher
system performance. In order to verify the effectiveness of the proposed models and the systematic modelling procedure, the
performance of the system is evaluated numerically by three major indices including the transmissivity index, the manipulability
index and the lubrication angle. The results obtained by using the proposed modelling procedure are also verified by experimental
data taken directly from a sample product produced on an NC machine using the proposed theory. The comparative study further
indicates that the proposed circular helicoidal surface meshing model presented in this paper is accurate and efficient. The
proposed theory and performance indices presented in this paper can thus be used to design for various high transmission performance
lead screw systems. 相似文献
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在涡旋压缩机型线设计研究中,针对涡旋型线暂啮合角固有耦合机理理论,提出了涡旋型线节点的概念,分析了涡旋型线节点的速度突变和加速度突变,通过微分几何理论分析并证明了涡旋型线固有耦合机理理论的正确性。结果表明:当特征几何边数增加时,曲率半径变化随之变小,速度突变相应随之变小,涡旋压缩机运转趋于平稳,振动和能量损失变小;当特征几何边数趋于无穷大时,曲率半径和速度突变趋向于零,涡旋压缩机运转最平稳,振动与能量损失最小;反之,特征几何边数减小时,曲率半径变化随之变大,速度突变大,涡旋压缩机运转不平稳,振动与能量损失变大。 相似文献
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Liu Huran 《The International Journal of Advanced Manufacturing Technology》2013,67(9-12):2765-2770
The colleagues of the author of this paper applied the concept of “contact” in differential geometry into the machining of the sculptured surface (Chun et al., Math Theor Appl, 23(3):105–108, 2003) and presented the second-order contact principle of the machining of complicated surfaces, using the circumference circle of the flat-end mill to sweep the curved surface instead of ball-end mill. But only mathematical deductions were presented in the paper. This paper proves that it is a highly effective method. Compared with other references, the theory of this paper is more restricted, and the method of this paper is suitable to the primary analytic geometry and the simulation surface of the numerical geometry as well. With definite procedure of calculation, the equations in this paper are easily solved. 相似文献
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平头立铣刀铣削力模型中积分限的确定方法 总被引:1,自引:0,他引:1
在铣削力预报的研究中 ,通常采用的方法是将铣刀沿其轴线方向逐层划分为很薄的微单元 ,对每一个微单元可认为是一个单刃刀具的斜角切削过程 ,通过建立微单元上的切削力模型并沿轴线方向积分来求得总的切削力 ,轴向积分限通常是通过角度换算获取 ,比较繁琐。本文对刀具的几何特征进行了描述 ,建立了求取平头立铣刀铣削力模型角度积分限的通用方法 ,该方法通过分析刀具几何特征和加工类型 ,直接获取角度积分限 ,避免了繁琐的轴向积分限的计算 ,并通过算例验证了该方法的有效性。 相似文献
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邓洪波 《机械工业高教研究》2014,(2):76-81
湖南书院的数学(算学)教育始于中日甲午战争之后,是湖南新政事业的一部分,是湖南教育事业由古代向近代转型的重要标志之一.其发展由浏阳、湘乡而及省城长沙,然后推至岳州、常德、衡州、武冈各地.由于有数学名家执掌,其组织与实施皆有较高的水平,主持其事者称算学山长、算学总教、译算山长、算学监院、算学斋长、算学教习、算学主讲、算学学长、算学分教习等.当时认为“算学原有中法、西法之分”,教学中强调“学者取其所长,弃其所短,并习兼攻,毋庸歧视”.教学内容除传统算学经典之外,还有三角、几何、代数、曲线、微分、积分等近现代西方数学知识.本文的揭示,完全可以改变书院只教授儒家四书五经的陈旧认识. 相似文献
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In this paper, a mechanistic model to formulate the nonlinear three-dimensional (3-D) cutting forces of taper end-mills by means of differential geometry is presented. The relationship between the tool geometry and the cutting force directions is analyzed. A cutting coefficient estimation procedure is developed. The model is verified by milling carbon steel specimens. For a set of given cutting conditions, the results show close agreement between the measured cutting forces and the model predictions. 相似文献
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基于热分析的二次曲面弧齿锥齿轮接触分析 总被引:2,自引:1,他引:1
运用微分几何和啮合原理等理论,研究了二次曲面弧齿锥齿轮齿面主曲率与主方向的求解过程,建立了相应的系统的接触分析方法,并通过实例,证明了此分析方法的可靠性,为弧齿锥齿轮温度场的计算提供了依据。 相似文献