This paper presents a new kind of spline surfaces, named non-uniform algebraic- trigonometric T-spline surfaces （NUAT T-splines for short） of odd hi-degree. The NUAT T- spline surfaces are defined by applying the T-...This paper presents a new kind of spline surfaces, named non-uniform algebraic- trigonometric T-spline surfaces （NUAT T-splines for short） of odd hi-degree. The NUAT T- spline surfaces are defined by applying the T-spline framework to the non-uniform algebraic- trigonometric B-spline surfaces （NUAT B-spline surfaces）. Based on the knot insertion algorithm of the NUAT B-splines, a local refinement algorithm for the NUAT T-splines is given. This algorithm guarantees that the resulting control grid is a T-mesh as the original one. Finally, we prove that, for any NUAT T-spline of odd hi-degree, the linear independence of its blending functions can be determined by computing the rank of the NUAT T-spline-to-NUAT B-spline transformation matrix.展开更多
This paper presents a new spline called arc spline.It takes two arcsconnecting adjacent points among a sampled series,with known tangental of eachsampled point.The calculation for the parallel.the curve length and the...This paper presents a new spline called arc spline.It takes two arcsconnecting adjacent points among a sampled series,with known tangental of eachsampled point.The calculation for the parallel.the curve length and the segment-ing point coordinates are simple,thus making map symbol generation simplified.When 'arclet' occurs,some special processing must be taken.展开更多
为解决快速扩展随机树算法(rapid-exploration random tree,RRT*)在三维环境中盲目搜索路径以及缺乏节点扩展记忆性等问题,提出一种融合蚁群算法的双向搜索算法ACO-RRT*。为适应精细化三维建模环境和解决地面起伏不平坦等问题,对RRT*算...为解决快速扩展随机树算法(rapid-exploration random tree,RRT*)在三维环境中盲目搜索路径以及缺乏节点扩展记忆性等问题,提出一种融合蚁群算法的双向搜索算法ACO-RRT*。为适应精细化三维建模环境和解决地面起伏不平坦等问题,对RRT*算法进行改进优化。采用双向搜索策略,在起点和终点同时运行改进后的RRT算法和蚁群算法,相向而行,对路径长度和运行时间进行优化。针对生成路径不够平滑等问题,引入B样条曲线平滑策略优化路径。仿真结果表明,所提算法能够有效用于机器人三维路径规划。展开更多
This paper mainly introduces an output control method with high stable precision of a large power IGBT arc welding inverter. Experiments indicate that this kind of control mode can effectively improve the static and d...This paper mainly introduces an output control method with high stable precision of a large power IGBT arc welding inverter. Experiments indicate that this kind of control mode can effectively improve the static and dynamic characteristics and stability of power supply system. And it can decrease the spatters in the welding process apparently. This power supply is especially suitable to automatic robot welding assembly line. It will be the developing direction of robot welding supply in the future.展开更多
为预估和延长双圆弧谐波减速器刚轮插齿刀有效长度,论文建立了双圆弧刚轮齿廓数学模型,根据运动学法,建立了插刀加工数学仿真模型;根据齿廓法线法,建立了砂轮磨削加工数学模型,推导了刃磨后插刀的等效齿形与加工误差,确定了插刀的有效...为预估和延长双圆弧谐波减速器刚轮插齿刀有效长度,论文建立了双圆弧刚轮齿廓数学模型,根据运动学法,建立了插刀加工数学仿真模型;根据齿廓法线法,建立了砂轮磨削加工数学模型,推导了刃磨后插刀的等效齿形与加工误差,确定了插刀的有效长度。在此基础上,论文通过优化砂轮齿形与插刀齿数,延长了插刀有效长度。结果表明:优化前55齿插刀有效长度为2.1 mm, 0截面插刀加工出刚轮齿形误差为2μm;优化后0截面插刀加工出刚轮齿形误差的最大值为0.14μm。优化后插刀齿数越多,插刀有效长度越长;优化后42齿、55齿、68插刀有效长度分别增加了4.8%、52%、81%。展开更多
基金Supported by the National Natural Science Foundation of China(60933008 and 61272300)
文摘This paper presents a new kind of spline surfaces, named non-uniform algebraic- trigonometric T-spline surfaces （NUAT T-splines for short） of odd hi-degree. The NUAT T- spline surfaces are defined by applying the T-spline framework to the non-uniform algebraic- trigonometric B-spline surfaces （NUAT B-spline surfaces）. Based on the knot insertion algorithm of the NUAT B-splines, a local refinement algorithm for the NUAT T-splines is given. This algorithm guarantees that the resulting control grid is a T-mesh as the original one. Finally, we prove that, for any NUAT T-spline of odd hi-degree, the linear independence of its blending functions can be determined by computing the rank of the NUAT T-spline-to-NUAT B-spline transformation matrix.
文摘This paper presents a new spline called arc spline.It takes two arcsconnecting adjacent points among a sampled series,with known tangental of eachsampled point.The calculation for the parallel.the curve length and the segment-ing point coordinates are simple,thus making map symbol generation simplified.When 'arclet' occurs,some special processing must be taken.
文摘为解决快速扩展随机树算法(rapid-exploration random tree,RRT*)在三维环境中盲目搜索路径以及缺乏节点扩展记忆性等问题,提出一种融合蚁群算法的双向搜索算法ACO-RRT*。为适应精细化三维建模环境和解决地面起伏不平坦等问题,对RRT*算法进行改进优化。采用双向搜索策略,在起点和终点同时运行改进后的RRT算法和蚁群算法,相向而行,对路径长度和运行时间进行优化。针对生成路径不够平滑等问题,引入B样条曲线平滑策略优化路径。仿真结果表明,所提算法能够有效用于机器人三维路径规划。
文摘This paper mainly introduces an output control method with high stable precision of a large power IGBT arc welding inverter. Experiments indicate that this kind of control mode can effectively improve the static and dynamic characteristics and stability of power supply system. And it can decrease the spatters in the welding process apparently. This power supply is especially suitable to automatic robot welding assembly line. It will be the developing direction of robot welding supply in the future.
文摘为预估和延长双圆弧谐波减速器刚轮插齿刀有效长度,论文建立了双圆弧刚轮齿廓数学模型,根据运动学法,建立了插刀加工数学仿真模型;根据齿廓法线法,建立了砂轮磨削加工数学模型,推导了刃磨后插刀的等效齿形与加工误差,确定了插刀的有效长度。在此基础上,论文通过优化砂轮齿形与插刀齿数,延长了插刀有效长度。结果表明:优化前55齿插刀有效长度为2.1 mm, 0截面插刀加工出刚轮齿形误差为2μm;优化后0截面插刀加工出刚轮齿形误差的最大值为0.14μm。优化后插刀齿数越多,插刀有效长度越长;优化后42齿、55齿、68插刀有效长度分别增加了4.8%、52%、81%。
