摘要
采用快速原型控制技术,搭建了一套电液多维力控并联机器人半实物仿真系统。利用该平台进行实验教学,可解决机械工程专业液压控制系统、机械控制工程基础以及机器人技术等课程理论脱离实践的教学难题。结合上述课程的理论知识以及相应工程案例,探索电液多维力控并联机器人在实验教学中的应用和实践。实验结果表明,基于该实验平台的实验教学,增强了研究生对相关理论知识的理解,提高了研究生实践能力,为机电液一体化专业课程教学提供了一种新颖的教学平台。
A hardware-in-the-loop simulation system of electro-hydraulic servo multi-dimensional force control parallel manipulator was built by using rapid prototyping control technology.The platform could be used in experimental teaching to solve the teaching problem that theory teaching divorced from practice in the course of hydraulic control system of mechanical engineering specialty,mechanical control engineering foundation and robot technology.Combined with the theoretical knowledge of the above courses and the corresponding engineering cases,the application and practice of electro-hydraulic servo multi-dimensional force control parallel manipulator in experimental teaching were explored.The experimental results show that the teaching practice based on the experimental platform can enhance graduated students’understanding of relevant theoretical knowledge,improve their practical ability,and provide a novel teaching method for the teaching of electromechanical and hydraulic integration.
作者
聂文龙
王春发
赵劲松
徐嘉祥
NIE Wenlong;WANG Chunfa;ZHAO Jinsong;XU Jiaxiang(Hebei Provincial Key Laboratory of Heavy Machinery Fluid Power Transmission and Control,Yanshan University,Qinhuangdao 066004,Hebei,China;Key Laboratory of Advanced Forging and Stamping Technology and Science,Ministry of Education of China,Yanshan University,Qinhuangdao 066004,Hebei,China;School of Mechanical Engineering,Yanshan University,Qinhuangdao 066004,Hebei,China)
出处
《实验室研究与探索》
CAS
北大核心
2020年第1期116-119,139,共5页
Research and Exploration In Laboratory
基金
国家自然科学基金项目(51505412)
燕山大学教学研究与改革项目(2018XJJG34)。
关键词
电液伺服
并联机器人
多维力控制
教学平台
electro-hydraulic servo
parallel robot
multi-dimensional control
teaching platform
