针对工业机器人工具中心点(Tool Center Point,TCP)标定,提出一种基于带二维测距功能标定工具板的标定方法。标定工具板能够感知机器人TCP的触碰,并测量任意两触点之间的距离。使机器人TCP与标定板触碰四次,并以触点形成的线段长度为坐...针对工业机器人工具中心点(Tool Center Point,TCP)标定,提出一种基于带二维测距功能标定工具板的标定方法。标定工具板能够感知机器人TCP的触碰,并测量任意两触点之间的距离。使机器人TCP与标定板触碰四次,并以触点形成的线段长度为坐标变换不变量为约束,建立TCP参数标定模型。该模型包括一个三元二次代数方程组,通过消元法可求出其所有可能解,并提出了真实解的判定方法。通过数值仿真,验证了所提出方法的可行性。以电阻触摸屏作为标定板为例,分析了标定板距离测量分辨率对标定精度的影响规律。以电阻屏为标定板进行了参数标定实验,证实了该方法的准确性。方法标定过程简单,易于实现自动化,适用于大多数工业机器人的工具坐标系的标定。展开更多
为在工业现场便捷、准确地获取工具中心点(tool center point,TCP)参数,降低机器人末端工具的定位误差,提出了一种基于平板标定工具的机器人TCP标定方法.利用机器人TCP与平板多次触碰所形成的空间触点应共面的约束条件,建立了机器人TCP...为在工业现场便捷、准确地获取工具中心点(tool center point,TCP)参数,降低机器人末端工具的定位误差,提出了一种基于平板标定工具的机器人TCP标定方法.利用机器人TCP与平板多次触碰所形成的空间触点应共面的约束条件,建立了机器人TCP参数标定模型;针对TCP名义参数未知和已知的情况,分别提出了基于粒子群算法的TCP直接求解和线性化的偏差求解算法.通过数值仿真和标定试验验证所提出方法的可行性和准确性,结果表明:TCP直接求解和偏差求解算法求解的结果与传统四点标定法相比,误差分别在0.5 mm和1.0 mm以内.展开更多
Metal surfaces play a crucial role in numerous applications,from self-cleaning and anti-icing to anti-fogging and oil-water separation.The regulation of their wettability is essential to enhance their performance in t...Metal surfaces play a crucial role in numerous applications,from self-cleaning and anti-icing to anti-fogging and oil-water separation.The regulation of their wettability is essential to enhance their performance in these areas.This paper proposes a multi-state regulation method for metal surface wettability,leveraging nanosecond laser ablation.By creating non-uniform microstructures on a metal surface,the contact area between the solid and liquid phases can be increased,resulting in the attainment of superhydrophilic properties(contact angle(CA),ranging from 4.6°to 8.5°).Conversely,the construction of uniform microstructures leads to a decreased solid-liquid contact area,thereby rendering the metal surface hydrophilic(CA=12.2°–53°).Furthermore,through heat treatment on a surface with uniform microstructures,organic matter adsorption can be promoted while simultaneously reducing surface energy.This process results in the metal surface acquiring hydrophobic properties(CA=92.1°–133.5°),facilitated by the“air cushion effect.”Building on the hydrophobic surface,stearic acid modification can further reduce surface energy,ultimately bestowing the metal surface with superhydrophobic properties(CA=150.1°–152.7°,and sliding angle=3.8°).Performance testing has validated the durability and self-cleaning effectiveness of the fabricated superhydrophobic surface while also highlighting the excellent anti-fog performance of the superhydrophilic surface.These findings strongly indicate the immense potential of these surfaces in various engineering applications.展开更多
文摘针对工业机器人工具中心点(Tool Center Point,TCP)标定,提出一种基于带二维测距功能标定工具板的标定方法。标定工具板能够感知机器人TCP的触碰,并测量任意两触点之间的距离。使机器人TCP与标定板触碰四次,并以触点形成的线段长度为坐标变换不变量为约束,建立TCP参数标定模型。该模型包括一个三元二次代数方程组,通过消元法可求出其所有可能解,并提出了真实解的判定方法。通过数值仿真,验证了所提出方法的可行性。以电阻触摸屏作为标定板为例,分析了标定板距离测量分辨率对标定精度的影响规律。以电阻屏为标定板进行了参数标定实验,证实了该方法的准确性。方法标定过程简单,易于实现自动化,适用于大多数工业机器人的工具坐标系的标定。
文摘为在工业现场便捷、准确地获取工具中心点(tool center point,TCP)参数,降低机器人末端工具的定位误差,提出了一种基于平板标定工具的机器人TCP标定方法.利用机器人TCP与平板多次触碰所形成的空间触点应共面的约束条件,建立了机器人TCP参数标定模型;针对TCP名义参数未知和已知的情况,分别提出了基于粒子群算法的TCP直接求解和线性化的偏差求解算法.通过数值仿真和标定试验验证所提出方法的可行性和准确性,结果表明:TCP直接求解和偏差求解算法求解的结果与传统四点标定法相比,误差分别在0.5 mm和1.0 mm以内.
基金supported by the Natural Science Foundation of Hunan Province,China(Grant No.2023JJ30669)the Natural Science Foundation of Changsha City,China(Grant No.kq2208273)+3 种基金the Fundamental Research Funds for the Central Universities of Central South University(Grant No.2023ZZTS0967)the Fundamentals and Application Fundamentals Foundation of Guangdong Province,China(Grant No.2022A1515011226)the Project of State Key Laboratory of Precision Manufacturing for Extreme Service Performance,Central South University(Grant No.ZZYJKT2022-10)the Project of Guangdong Provincial Key Laboratory of Manufacturing Equipment Digitization(Grant No.2020B1212060014)。
文摘Metal surfaces play a crucial role in numerous applications,from self-cleaning and anti-icing to anti-fogging and oil-water separation.The regulation of their wettability is essential to enhance their performance in these areas.This paper proposes a multi-state regulation method for metal surface wettability,leveraging nanosecond laser ablation.By creating non-uniform microstructures on a metal surface,the contact area between the solid and liquid phases can be increased,resulting in the attainment of superhydrophilic properties(contact angle(CA),ranging from 4.6°to 8.5°).Conversely,the construction of uniform microstructures leads to a decreased solid-liquid contact area,thereby rendering the metal surface hydrophilic(CA=12.2°–53°).Furthermore,through heat treatment on a surface with uniform microstructures,organic matter adsorption can be promoted while simultaneously reducing surface energy.This process results in the metal surface acquiring hydrophobic properties(CA=92.1°–133.5°),facilitated by the“air cushion effect.”Building on the hydrophobic surface,stearic acid modification can further reduce surface energy,ultimately bestowing the metal surface with superhydrophobic properties(CA=150.1°–152.7°,and sliding angle=3.8°).Performance testing has validated the durability and self-cleaning effectiveness of the fabricated superhydrophobic surface while also highlighting the excellent anti-fog performance of the superhydrophilic surface.These findings strongly indicate the immense potential of these surfaces in various engineering applications.
