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| 大型零件装配搬运的智能轨道系统驱动控制 | |
| 引用本文： | 董玉红,张立勋,陈雄标. 大型零件装配搬运的智能轨道系统驱动控制[J]. 中国工程机械学报, 2011, 9(3): 325-330 |
| 作者姓名： | 董玉红 张立勋 陈雄标 |
| 作者单位： | 1. 哈尔滨理工大学机械动力工程学院,黑龙江哈尔滨,150080 2. 哈尔滨工程大学机电工程学院,黑龙江哈尔滨,150001 3. 萨斯喀彻温大学机械工程系,加拿大萨斯喀彻温S7N 5A9 |
| 基金项目： | 黑龙江省教育厅海外学人资助项目 |
| 摘 要： | 智能辅助作业设备(IAD)是新一代人机工程学与智能控制技术相结合的产物,智能轨道系统是IAD的关键部分之一.根据搬运大型零件时智能轨道系统的功能,设计了H型钢与智能移动单元构成的模块化导轨结构,其具有主动、欠驱动力和被动工作模式.研制了智能轨道系统实验样机,进行了半物理仿真实验研究.研究结果表明:该轨道系统能够跟踪给定的速度指令和位置指令,并且跟踪性能满足设计要求,可以应用于大型零件的装配搬运等作业场合,并为IAD产品的推广和实用化提供了参考价值. |
| 关 键 词： | 智能辅助设备 智能轨道 控制模式 半物理仿真 |
Actuation control on intelligent rail systems for large-scale parts assembly and conveying |
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| DONG Yu-hong,ZHANG Li-xun,CHEN Xiong-biao. Actuation control on intelligent rail systems for large-scale parts assembly and conveying[J]. Chinese Journal of Construction Machinery, 2011, 9(3): 325-330 | |
| Authors: | DONG Yu-hong ZHANG Li-xun CHEN Xiong-biao |
| Affiliation: | 1.School of Mechanical and Power Engineering,Harbin University of Science and Technology,Harbin 150080,China;2.College of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin 150001,China;3.Department of Mechanical Engineering,University of Saskatchewan,Saskatoon SK S7N 5A9,Canada) |
| Abstract: | The intelligence-aided device（IAD）,typically an intelligent rail system,is derived from a combination of ergonomics and intelligent control technology.Based on relevant functions for large-scale parts conveying,the modular rail structure,comprising the active,under-actuating and passive modes,is first designed with an H-shaped steel and intelligent motional unit.Then,a prototype is experimentally investigated for the semi-physical simulation.Finally,it is found from results that the proposed system can track the preset velocity and position instructions.Due that the tracking performance meets the design requirements,it is effectively applied to such cases as large-scale parts assembly and conveying.Therefore,this approach sets a reference to the promotion and practicality for IAD products. |
| Keywords: | intelligence-aided device intelligent rail control mode semi-physical simulation |
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