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基于反推式绳轮机构的欠驱动三指节机械手结构设计与静力分析
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作者 朴金生 张建川 +2 位作者 潘伟 葛云峰 路长厚 《机械传动》 北大核心 2023年第12期60-68,共9页
基于连杆式和绳轮式欠驱动机构的特点,提出了一种反推式绳轮新机构。介绍了反推式绳轮机构的结构原理及运动特性,完成了用于物料袋抓取的新机构三指节机械手的结构设计。首先,基于平面力系平衡方法对三指节机械手进行静力学分析,采用Ad... 基于连杆式和绳轮式欠驱动机构的特点,提出了一种反推式绳轮新机构。介绍了反推式绳轮机构的结构原理及运动特性,完成了用于物料袋抓取的新机构三指节机械手的结构设计。首先,基于平面力系平衡方法对三指节机械手进行静力学分析,采用Adams软件静力学仿真初步验证了静力学分析的准确性,并与连杆式及传统绳轮式结构进行对比仿真,验证了新机构力转换率高的特性;然后,对三指节机械手进行了简化建模、运动学包络抓取仿真和静力学抓取接触力仿真。结果表明,三指节机械手具备移动式包络抓取的能力;但当前设计存在接触力分布不均的缺点,需要进一步优化。 展开更多
关键词 欠驱动机构 绳驱 静力学分析 运动学仿真 静力学仿真
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基于FPGA与GPS的时间测量电路设计与实现 被引量:8
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作者 尹俊 倪发福 +6 位作者 张建川 李运杰 郑洋德 白晓 张亚鹏 张鹏鸣 王彦瑜 《原子能科学技术》 EI CAS CSCD 北大核心 2019年第1期151-157,共7页
为宇宙射线缪子(μ子)测量实验设计了基于FPGA的高精度时间-数字转换器(TDC),结合TDC测量值与GPS提供的标准时间(UTC)精确记录了粒子事件的时间信息。TDC采用粗计数+细时间测量相结合的方式,用计数器实现动态范围大于1 s的粗时间测量;使... 为宇宙射线缪子(μ子)测量实验设计了基于FPGA的高精度时间-数字转换器(TDC),结合TDC测量值与GPS提供的标准时间(UTC)精确记录了粒子事件的时间信息。TDC采用粗计数+细时间测量相结合的方式,用计数器实现动态范围大于1 s的粗时间测量;使用FPGA加法进位延时链构建时间内插完成了细时间测量,并借助Wave-Union与bin-by-bin方法提高时间分辨并改善非线性。实验室测试双边沿TDC的时间分辨为16.68 ps,时间测量精度(RMS)好于45 ps。测量结果表明,该TDC满足脉冲前沿时间甄别要求。 展开更多
关键词 宇宙射线缪子测量 FPGA 时间-数字转换器 GPS
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基于物联网的重离子加速器状态诊断系统研究与设计 被引量:4
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作者 李运杰 张建川 +6 位作者 周德泰 王彦瑜 李丽莉 尹佳 宿建军 田瑞霞 倪发福 《原子能科学技术》 EI CAS CSCD 北大核心 2019年第9期1643-1650,共8页
为更好地保障中国科学院近代物理研究所重离子加速器(HIRFL)的稳定运行,本文研究设计了基于物联网的状态诊断系统。针对HIRFL中设备数量庞大、种类复杂的特点,采用物联网的设计架构,利用各种传感器进行数据采集,并通过网络传输给中央控... 为更好地保障中国科学院近代物理研究所重离子加速器(HIRFL)的稳定运行,本文研究设计了基于物联网的状态诊断系统。针对HIRFL中设备数量庞大、种类复杂的特点,采用物联网的设计架构,利用各种传感器进行数据采集,并通过网络传输给中央控制系统中的数据库,由服务器中运行的控制软件对这些数据进行综合分析,给出合理的建议并发出相应的指令。根据HIRFL的实际情况,初步设计了1个HIRFL状态诊断系统模型,包括底层的硬件设计和上层的软件设计以及界面设计。部分控制界面已上线运行,并在实际运行中得到了检验,取得了一定的加速器状态诊断效果。 展开更多
关键词 物联网 HIRFL 状态 诊断 数据库
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5 - 9 A New Control System for CSRm Injection Electrostatic Deflection Plate
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作者 zhang jianchuan Yu Yanjuan +3 位作者 Lin Fuyuan Zhou Detai Yin Jia Wang Yanyu 《IMP & HIRFL Annual Report》 2013年第1期210-211,共2页
关键词 英语 阅读 理解 物理研究
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5 - 7 Development of New Kicker Control Hardware
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作者 Luo Jinfu Wang Yanyu +2 位作者 ZhouWenxiong Zhou Detai zhang jianchuan 《IMP & HIRFL Annual Report》 2013年第1期207-208,共2页
关键词 英语 阅读 理解 物理研究
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6-27 Motion Control System of SFC Extraction Electrostatic Deflection
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作者 zhang jianchuan Wang Yanyu +3 位作者 Zhou Detai zhang Xiaoying Yang Weiqing Su Jianjun 《IMP & HIRFL Annual Report》 2015年第1期301-302,共2页
A SFC-ES (Electrostatic Deflection) position monitoring and limit alarm system was built in 2014. As planned, the motion control part of SFC-ES is going to be upgraded and joined into this system in 2015 to complete a... A SFC-ES (Electrostatic Deflection) position monitoring and limit alarm system was built in 2014. As planned, the motion control part of SFC-ES is going to be upgraded and joined into this system in 2015 to complete a closed loop motion control system[1]. During the HIRFL 2015 summer maintains, this motion control function was realized and tested several times before used to verify the control and detection precision. At present, the overall control accuracy is about 0.2 mm. 展开更多
关键词 EXTRACTION ELECTROSTATIC DEFLECTION
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6-31 Design of Control Software for HIMM Ion-source and Cyclotron
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作者 Li Yunjie zhang jianchuan +2 位作者 Zhou Detai Li lili Wang Yanyu 《IMP & HIRFL Annual Report》 2015年第1期307-308,共2页
Heavy ion therapy for cancer treatment is known as the world’s most advanced and most effective radiotherapy method. Institute of Modern Physics, Chinese Academy of Sciences spent a long time to research in this fiel... Heavy ion therapy for cancer treatment is known as the world’s most advanced and most effective radiotherapy method. Institute of Modern Physics, Chinese Academy of Sciences spent a long time to research in this field. The beam of Chinese first medical heavy ion accelerator with independent intellectual property rights was successfully extracted on December 23rd, 2015 in Wuwei. Medical heavy ion accelerator is a huge system; this paper only describes the ion-source and cyclotron control software design. 展开更多
关键词 HIMM ION-SOURCE CYCLOTRON
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6-26 Power Supplies Control for Electron Cooling of CSRm
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作者 Su Jianjun Wang Yanyu zhang jianchuan 《IMP & HIRFL Annual Report》 2015年第1期300-301,共2页
To improve the efficiency of Electron Cooling Control System of CSRm, power supplies control system was designed and set up in September 2015. The control software package is developed with Visual C++, which is able t... To improve the efficiency of Electron Cooling Control System of CSRm, power supplies control system was designed and set up in September 2015. The control software package is developed with Visual C++, which is able to control and monitor all power supplies. In order to prevent the power supplies’ leakage accident which may cause the breakdown of other device, alarm and interlock-protection functions are added to the software and hardware. 展开更多
关键词 ELECTRON COOLING CSRM
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6-29 Upgrade of Kicker Control System on the HIRFL
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作者 Zhou Detai Wang Yanyu +2 位作者 zhang jianchuan Ni Fafu Yin Jun 《IMP & HIRFL Annual Report》 2015年第1期304-305,共2页
The kicker system in the Heavy Ion Research Facility in Lanzhou (HIRFL) plays an important role in beam extraction and injection between two cooling storage rings (CSRs). The old kicker control system which has been o... The kicker system in the Heavy Ion Research Facility in Lanzhou (HIRFL) plays an important role in beam extraction and injection between two cooling storage rings (CSRs). The old kicker control system which has been operated over 5 years cannot satisfy the requirements of current special physics experiments. The main reason is the 5 ns time precision restricts the improvement of the precision for the phase detection of the beam bunches. 展开更多
关键词 Kicker CONTROL SYSTEM
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5-20 A Newly Developed SFC Extraction Electrostatic De Position Detection and Monitoring System
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作者 zhang jianchuan Wang Yanyu +3 位作者 Zhou Detai Li Yunjie Liu Huan Ye Zhonggui 《IMP & HIRFL Annual Report》 2014年第1期231-231,共1页
The SFC extraction electrostatic deflection plate is located inside the SFC chamber and it is responsible for theSFC beam extraction. Before the SFC-ES position monitoring system was build, the actual position of the ... The SFC extraction electrostatic deflection plate is located inside the SFC chamber and it is responsible for theSFC beam extraction. Before the SFC-ES position monitoring system was build, the actual position of the cuttingpole and the high voltage cathode pole cannot be "seen" for beam tuning stuff. So they can only tuning the beam"blindly". This is very dangerous, in case of over adjusting the pole, serious damage may be caused. To avoid thiskind of damage, a route limit monitoring system was built in 2012. Using this system, the beam tuning stuff canget the information whether the cutting pole/the high voltage cathode pole is reaching the route limit. If the polehas reached the limit, there will be alarm information in the GUI interface to inform the beam tuning stuff to stopthe motor and change the moving direction. Although this can prevent big damage, precision position detectionfunction cannot be reached, and the SFC extraction electrostatic deflection plate still should be pulled out to checkthe position manually. 展开更多
关键词 DEVELOPED ELECTROSTATIC POSITION
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6-28 High Voltage Test of the Electrostatic Extraction Septum for HIMM
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作者 zhang Jingjing zhang Xiaoying +3 位作者 Yang Yaqing zhang jianchuan Yao Qinggao Ma Lizhen 《IMP & HIRFL Annual Report》 2014年第1期282-282,共1页
In the project of Heavy Ion Medicine Machine, the electrostatic septum is one of the important components ofsynchrotron which will be used for beam slow extraction. The maximum electric field is 85 kV/cm, the maximumv... In the project of Heavy Ion Medicine Machine, the electrostatic septum is one of the important components ofsynchrotron which will be used for beam slow extraction. The maximum electric field is 85 kV/cm, the maximumvoltage is 140 kV, and the good electric field area is (1020) mm  40 mm. When fabrication of electrostaticseptum is finished, the high voltage test is required to make sure that the septum could work stably in the highvoltage condition. In 2014, we had finished the high voltage test successfully. 展开更多
关键词 VOLTAGE ELECTROSTATIC EXTRACTION
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Design Progress of HIAF State Monitoring and Slow Protection System
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作者 zhang jianchuan Li Guihua +3 位作者 Wu Junxia Li Zhixue Zhou Detai Wang Yanyu 《IMP & HIRFL Annual Report》 2019年第1期316-317,共2页
High Intensity Heavy-ion Accelerator Facility(HIAF)is a very complex and huge system which is under construction by the Institute of Modern Physics in Huizhou.In order to realize the safe and reliable operation of thi... High Intensity Heavy-ion Accelerator Facility(HIAF)is a very complex and huge system which is under construction by the Institute of Modern Physics in Huizhou.In order to realize the safe and reliable operation of this facility. 展开更多
关键词 SYSTEM INTENSITY COMPLEX
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TR5实验终端控制系统升级
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作者 Ni Fafu zhang jianchuan +1 位作者 Sun Youmei Wang Yanyu 《IMP & HIRFL Annual Report》 2018年第1期270-271,共2页
In order to improve the stability of TR5 experimental terminal control system,a new control system was design and realized in 2018 both in hardware and software level.PLC(Programmable Logic Controller)is used in hardw... In order to improve the stability of TR5 experimental terminal control system,a new control system was design and realized in 2018 both in hardware and software level.PLC(Programmable Logic Controller)is used in hardware instead of assembled PC based plug-in board.In software,several sets of control software with independent functions are integrated into one software developed by C++.After the reform of the control system,the upgraded control system has been running steadily for several months. 展开更多
关键词 HARDWARE CONTROLLER PLC(Programmable)
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Ar^(39)离子源控制软件研究与设计
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作者 Li Yunjie Guo Yuhui +5 位作者 zhang jianchuan Wu Qi Jia Zhehua Su Jianjun Wang Yanyu Sun Liangting 《IMP & HIRFL Annual Report》 2018年第1期273-274,共2页
According to the content of Ar^(39) in the sample to be tested,the age of the sample can be accurately calculated.This method is used in the measurement of glacial age,the measurement of ancient fossils,etc.So the Ar3... According to the content of Ar^(39) in the sample to be tested,the age of the sample can be accurately calculated.This method is used in the measurement of glacial age,the measurement of ancient fossils,etc.So the Ar39 ion source has been established to meet the requirement of ice age survey and fossil survey.The software of the Ar^(39) ion source control system is based on EPICS(Experimental Physics and Industrial Control System)architecture.It mainly consists of two layers:IOC layer and an layer.The OPI layer also includes two layers:Channel Access(CA)client interface and application software.The IOC layer includes six layers:Channel Access(CA)server interface,database access interface,dynamic database,record support module,device support module and device driver. 展开更多
关键词 DATABASE CLIENT SERVER
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基于EPICS架构的DR和内靶实验装置运动控制系统实现
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作者 Zhou Detai Li Yunjie +1 位作者 Wang Yanyu zhang jianchuan 《IMP & HIRFL Annual Report》 2018年第1期269-269,共1页
DR(Dielectronic Recombination)and CSRe cluster internal target are two of the important experiment terminals in HIRFL(Heavy Ion Research Facility in Lanzhou).Both terminals have moving detectors,which need to be pushe... DR(Dielectronic Recombination)and CSRe cluster internal target are two of the important experiment terminals in HIRFL(Heavy Ion Research Facility in Lanzhou).Both terminals have moving detectors,which need to be pushed in or pulled out remotely.Since the old control system has lot of inconvenience such as the decline of control accuracy and running instability,a set of new motion control system is design and realized in 2018. 展开更多
关键词 EPICS INTERNAL SYSTEM
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新建高能单粒子终端束线状态监测机柜设计
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作者 zhang jianchuan Yin Jia Wang Yanyu 《IMP & HIRFL Annual Report》 2018年第1期268-269,共2页
The experimental research project of single event effect source technology is a national key project of the“Core Electronic Devices,High-end Universal Chips and Basic Software Products”Major National Science and Tec... The experimental research project of single event effect source technology is a national key project of the“Core Electronic Devices,High-end Universal Chips and Basic Software Products”Major National Science and Technology Projects.This research is aiming at studying the single event effect of high energy heavy ions with wide LET value.A new experimental terminal is going to be built to test researches on this area.This new terminal mainly uses the slowextraction high-energy heavy ion beam from the HIRFL CSRm.The beam will be used to pass through RIBLL2 beam transmission line and then pass through a series of focusing and deflection elements and it will finally focus on small beam spot size and scan uniformly at the terminal.The beam is used to carry out the simulation study of radiation resistance of aerospace devices. 展开更多
关键词 finally CARRY Basic
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基于FPGA的高精度TDC设计
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作者 Yin Jun Ni Fafu +1 位作者 zhang jianchuan Wang Yanyu 《IMP & HIRFL Annual Report》 2017年第1期292-293,共2页
A FPGA based time-to-digital converter(TDC)with high precision was designed and realized.A technique that combines coarse time counting and fine time measurement was adopted to achieve a large time measurement range a... A FPGA based time-to-digital converter(TDC)with high precision was designed and realized.A technique that combines coarse time counting and fine time measurement was adopted to achieve a large time measurement range and a fine time resolution.The method of“wave-union”was used in the time interpolation to improve the time resolution.The performance of TDC was tested under lab conditions and the results show that the time resolution of TDC is less than 40 ps.It has been applied for pulse width(time-over-threshold,TOT)measurement. 展开更多
关键词 measurement. TDC UNION
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基于EPICS架构的偏转板运动控制系统实现
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作者 zhang jianchuan Tian Ruixia +1 位作者 Zou Yun Wang Yanyu 《IMP & HIRFL Annual Report》 2017年第1期288-290,共3页
The project of design and build of an electrostatic spectrum motion control system for Northwest Institute of Nuclear Technology started in 2016 and the major offline test work was finished in 2017.The structure of th... The project of design and build of an electrostatic spectrum motion control system for Northwest Institute of Nuclear Technology started in 2016 and the major offline test work was finished in 2017.The structure of this electrostatic spectrum is similar with the electrostatic spectrum used in CSR and HIMM facility.It has 2 moving part,an anode frame and a high voltage electrode.Each moving part is driven by 2 motors.Besides these 4 motors,the controll devices also include 8 limit switches and 4 resistance rulers.The 8 limit switches are used to define the travel limit position of the moving part and the 4 resistance rulers are used to get the voltage values which are correspond with the relative position of each moving components.The control precision of this system is 0.1 mm. 展开更多
关键词 ELECTROSTATIC LIMIT MOVING
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LEAF运动控制系统设计
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作者 Li Yunjie Guo Yuhui +4 位作者 Fang Xing zhang jianchuan Wei Yuan Wang Yanyu Sun Liangting 《IMP & HIRFL Annual Report》 2017年第1期295-296,共2页
Low Energy intense-highly-charged ion Accelerator Facility(LEAF)is national major research equipment development project Its construction is of great scientific significance.It can be used for nuclear astrophysics,rad... Low Energy intense-highly-charged ion Accelerator Facility(LEAF)is national major research equipment development project Its construction is of great scientific significance.It can be used for nuclear astrophysics,radiation physics,etc.There are four parts of it,they are superconducting ion source,high voltage platform and beam line,RFQ accelerator,and experimental terminal.Motion control system is an important part of it,mainly used for gas intake control,moving electrode sputter control beam slits and bias voltage control. 展开更多
关键词 BEAM INTENSE LEAF
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EPICS在溅射离子泵控制系统中的应用和实验环控制系统改造
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作者 Zhou Detai Tian Ruixia +4 位作者 Ni Fafu Wang Yanyu zhang jianchuan Chai Zhen Liu Xiaojun 《IMP & HIRFL Annual Report》 2017年第1期290-291,共2页
To establish the sputter ion pump remote control system for TR5 and TR6 of HIRFL(Heavy Ion Research Facility in Lanzhou),EPICS(Experimental Physics And Industrial Control System)is adopted to development new control s... To establish the sputter ion pump remote control system for TR5 and TR6 of HIRFL(Heavy Ion Research Facility in Lanzhou),EPICS(Experimental Physics And Industrial Control System)is adopted to development new control system.Beckhoff PLC and self-designed hardware module have been used to build the hardware platform and the whole system structure is established based on field bus and EtherCAT(Ethernet for Control Automation Technology)technology.EtherCAT is an ideal Ethernet solution for industrial automation,characterized by outstanding performance and particularly simple handling.In the realization process of the system,IOC record device support and PV definition are achieved.At the same time,we have developed a client application in the CSS environment.In this sputter ion pump control system,we realized the basic interlocking protection function in both of hardware and software.The photo of hardware module is shown in Fig.1.The GUI interface is shown in Fig.2.The control system has being stably run since installed in Aug.2017. 展开更多
关键词 HARDWARE CLIENT AUTOMATION
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