摘要
介绍了用于聚氨酯凝胶/发泡分布图测试的机器人智能测试系统。本系统由Gold-Key机器人、发泡高度检测子系统、钢球投掷机构、二级微计算机及接口电路等构成。讨论了修改人工BBS法操作的作业结构。运用三角学方法和最少自由度原则,得到了操作手运动方程简化的求解算法。与人工BBS法相比,本系统检测精度高、采样点和投球点多、投球动作精确。所绘制的分布图能更清晰地反映发泡过程的真实情况。
A robot measuring system for providing gel/rise profiles of urethane foams is described here. The profiles will give a clear and quantitative picture of gel-blow relationships throughout the foaming process, which can be used to study the mechanizm of foaming process and helpful to quality control of PU production.The Gold-Key robot-based system includes a subsystem for measuring rising height of the foam, a subsystem fixed on the end-effector of the robot for dropping small steel balls into the foam to detect its strength; as Well as multi-microcomputers with its interfacers. The manipulator carries out operations according to the procedure supplied by the modified BBS method. The microcomputer has the tasks of data acquisition and processing of the data concerning the rising heights and the heights of balls inside the foam, furthermore for the gel/rise profiles.By means of trigonometric method and the principle of least degree of freedom, a simplified method for solving kinematic equations of the manipulator is proposed. Compared with the manual BBS method, the robot-BBS method featuring higher accurancy of measurements, more samples and more dropped balls, precise dropping operations can provide the profiles with more clear picture of foaming processes.
关键词
聚氨酯
发泡
机器人
检测系统
robots
instrumental analysis
polyurethane
measurement methods
solving kinematic equation
