摘要
针对水轮机活动导叶的修复问题 ,设计了微机直接控制的水轮机活动导叶打磨用机械手控制器,它可控制五个自由度 ,方便地修复各种形状复杂的活动导叶。打磨机械手由磨削器及x、y、z方向运动部件组成 ,它以恒压力位置/力混合控制算法为基础 。
The grinding machine controller controlled by computer directly for the repairing hydraulic turˉbine guide vane was designed.It can control the degrees of freedom in five directions and repair all kinds of complex shape guide vanes.The manipulator consists of grinding tool and moving components in x、y、z direction.The control process of manipulator is based on mix control arithmetic of position/force,and reˉalized the3D graphic showing of guide vanes and the database management.
出处
《大电机技术》
北大核心
2004年第5期53-56,71,共5页
Large Electric Machine and Hydraulic Turbine
基金
甘肃省中青年科技基金资助(ZS001-A22-018-G11)
