Error Modeling and Sensitivity Analysis of a Parallel Robot with SCARA(Selective Compliance Assembly Robot Arm) Motions

Parallel robots with SCARA（selective compliance assembly robot arm） motions are utilized widely in the field of high speed pick-and-place manipulation. Error modeling for these robots generally simplifies the parallelogram structures included by the robots as a link. As the established error model fails to reflect the error feature of the parallelogram structures, the effect of accuracy design and kinematic calibration based on the error model come to be undermined. An error modeling methodology is proposed to establish an error model of parallel robots with parallelogram structures. The error model can embody the geometric errors of all joints, including the joints of parallelogram structures. Thus it can contain more exhaustively the factors that reduce the accuracy of the robot. Based on the error model and some sensitivity indices defined in the sense of statistics, sensitivity analysis is carried out. Accordingly, some atlases are depicted to express each geometric error’s influence on the moving platform’s pose errors. From these atlases, the geometric errors that have greater impact on the accuracy of the moving platform are identified, and some sensitive areas where the pose errors of the moving platform are extremely sensitive to the geometric errors are also figured out. By taking into account the error factors which are generally neglected in all existing modeling methods, the proposed modeling method can thoroughly disclose the process of error transmission and enhance the efficacy of accuracy design and calibration.

Genetic Algorithm for Concurrent Balancing of Mixed-Model Assembly Lines with Original Task Times of Models

The growing global competition compels manufacturing organizations to engage themselves in all productivity improvement activities. In this direction, the consideration of mixed-model assembly line balancing problem and implementing in industries plays a major role in improving organizational productivity. In this paper, the mixed model assembly line balancing problem with deterministic task times is considered. The authors made an attempt to develop a genetic algorithm for realistic design of the mixed-model assembly line balancing problem. The design is made using the originnal task times of the models, which is a realistic approach. Then, it is compared with the generally perceived design of the mixed-model assembly line balancing problem.

Mixed-Model U-Shaped Assembly Line Balancing Problems with Coincidence Memetic Algorithm

Mixed-model U-shaped assembly line balancing problems (MMUALBP) is known to be NP-hard resulting in it being nearly impossible to obtain an optimal solution for practical problems with deterministic algorithms. This paper pre-sents a new evolutionary method called combinatorial optimisation with coincidence algorithm (COIN) being applied to Type I problems of MMUALBP in a just-in-time production system. Three objectives are simultaneously considered;minimum number workstations, minimum work relatedness, and minimum workload smoothness. The variances of COIN are also proposed, i.e. CNSGA II, and COIN-MA. COIN and its variances are tested against a well-known algo-rithm namely non-dominated sorting genetic algorithm II (NSGA II) and MNSGA II (a memetic version of NSGA II). Experimental results showed that COIN outperformed NSGA II. In addition, although COIN-MA uses a marginal CPU time than CNSGA II, its other performances are dominated.

Singular Assembly Configurations and Configuration Bifurcation Characteristics of the Semi-regular Hexagons 6-6 Gough-Stewart Manipulator

It is well known that singular configurations are inherent to parallel manipulators and have serious influences on their properties. Therefore, these singular configurations should be avoided in the design and application of mechanisms. The researches on the singularity identification and distribution have revealed the relations among the six configuration parameters at singular points. Few works have dealt with the relation between the singularity and the input parameters, as wcll as the properties of the manipulator nearby the singularity. In this paper, taking the semi-regular hexagons 6-6 Gough-Stewart manipulator （SRHGSMP） as an example, the configuration bifurcation characteristics going with the input parameters, the assembly configurations at singular points, and the reasons to cause the singularity are analyzed. The research reveals that the number and the combination of the input parameters have great influences on the complexity of the singularity and the curvature radiuses of the configuration curves. Under different number of input parameters, the dimensional-utmost singularity, line vectors correlation singularity and Jacobian matrix correlation singularity can occur individually or jointly. Choosing the adjacent input parameters, the simple singularity and the large singularity-free input parameters zones can be obtained. And selecting multiple input parameters, the self-motion regions and the singularity avoidance errors can be reduced. These new discoveries are valuable and of significance for the trajectory design, the singularity avoidance, and the self-motion control of the parallel manipulator.

Heuristics for Mixed Model Assembly Line Balancing Problem with Sequencing

The growing global competition compels organizations to use many productivity improvement techniques. In this direction, assembly line balancing helps an organization to design its assembly line such that its balancing efficiency is maximized. If the organization assembles more than one model in the same line, then the objective is to maximize the average balancing efficiency of the models of the mixed model assembly line balancing problem. Maximization of average balancing efficiency of the models along with minimization of makespan of sequencing models forms a multi-objective function. This is a realistic objective function which combines the balancing efficiency and makespan. This assembly line balancing problem with multi-objective comes under combinatorial category. Hence, development of meta-heuristic is inevitable. In this paper, an attempt has been made to develop three genetic algorithms for the mixed model assembly line balancing problem such that the average balancing efficiency of the model is maximized and the makespan of sequencing the models is minimized. Finally, these three algorithms and another algorithm in literature modified to solve the mixed-model assembly line balancing problem are compared in terms of the stated multi-objective function using a randomly generated set of problems through a complete factorial experiment.

并行特征提取和渐进特征融合的计算机主板装配缺陷检测

针对计算机主板装配缺陷检测中的元器件位置分布复杂、缺陷目标不显著及多尺度等问题,本文提出了一种并行特征提取和互交叉渐进特征融合的端到端的缺陷检测算法。首先,结合部分卷积和视觉Transformer提出了一种并行残差特征提取网络,利用部分卷积的低计算复杂度的优势提取局部特征,同时利用视觉Transformer的长距离建模能力扩大模型的感受野,增强网络的特征提取能力。其次,引入注意力机制和特征渐进融合机制,提出了一种多尺度注意力互交叉的渐进特征融合网络,增强检测模型的特征融合能力。在公开数据集上的实验结果表明,该算法的平均精度均值(mAP)达到了94.63%,相较于基线模型YOLOv5提升了4.62%,并优于其他几种先进模型,检测速度达到了25 FPS。实现了较好的检测精度与速度的平衡,为实际工业环境下计算机主板表面装配缺陷检测自动化和智能化的实现提供了一种快速、有效的方法。

不锈钢槽式预埋组件受剪性能研究

为研究不锈钢槽式预埋组件在剪力作用下的破坏模式和承载性能,完成了3组9个带混凝土基材的不锈钢槽式预埋组件试件的受剪试验。试验结果表明,平行受剪工况下破坏模式为齿牙剪切破坏,垂直受剪工况下破坏模式为混凝土边缘破坏及槽道卷边受弯破坏。在试验的基础上,通过ABAQUS软件建立了有限元分析模型,并验证了模型的准确性。通过数值分析研究了齿牙尺寸、混凝土强度、边缘距离、锚件中心线间距及预埋槽道有效埋深等参数对极限承载力的影响。结果表明,平行受剪工况下,平齿型槽道的齿牙数量、宽度及厚度的增加均可提高极限承载力,齿牙高度对极限承载力影响较小;垂直受剪工况下,平齿型和燕尾型槽道的混凝土强度及边缘距离的增加均可提高极限承载力,而锚件中心线间距的增加则使极限承载力降低,预埋槽道有效深度对极限承载力影响较小。给出了不同破坏模式下的受剪承载力计算公式,通过试验结果与有限元模拟结果的对比,验证了承载力计算公式的有效性。

面向复杂装配体模型的两级并行曲面网格生成

针对实际工程应用中的大规模数值模拟需求,面向复杂几何装配体模型,提出一种适配高性能计算机分布式共享存储体系的两级并行曲面网格生成方法。首先提取几何模型的关键特征,基于关键特征构建网格尺寸场并预估出每个几何实体内的网格规模大小;然后基于模型几何实体的相邻关系和预估的网格规模建立模型实体间的邻接关系图,通过图剖分算法将几何模型分解为不同的子模型,将子模型分配到不同的进程内;最后在各进程内按照“点-线-面”的顺序依次并行生成点网格、线网格和面网格。在曲面网格并行生成中采取进程和线程混合的并行方式,不同子模型之间采用消息传递接口并行,同一个子模型的不同几何曲面之间采用OpenMP并行。通过三峡大坝模型对该方法进行验证,结果表明,通过分析算法的并行效率、通信最小化和负载平衡,该方法可以在数千处理器核上获得40%的并行效率,不同进程间的通信量较少,且可以获得良好的负载平衡。

基于多面体模型的电机装配误差分析

电机装配时各零件的偏差累积会影响电机气隙,导致电机性能与装配质量下降,因此需对装配后电机定转子间的气隙进行公差分析。为做好公差分析,以电机气隙作为装配功能要求,建立装配偏差传递路径上的多面体模型,对串并联装配结构的多面体模型进行闵可夫斯基求和与求交运算,最终得到装配体气隙沿径向平动的变化范围。运用3DCS基于蒙特卡洛法对电机气隙进行仿真,验证了多面体模型法求解所得装配误差的准确性和合理性,对电机的公差设计具有一定的参考价值。

齿条导轨组件安装精度的调校方法

齿条导轨组件安装精度要求高,调校方式主要依靠经验,调整螺钉拧紧力矩与导轨位移关系尚不明确,故对齿条导轨组件开展安装精度调校方法研究,探索调整螺钉拧紧力矩与导轨位移关系,提高装配精度,保证产品质量。基于奇异函数建立了调整螺钉拧紧力矩与导轨位移关系,采用遗传算法对特定位置螺钉拧紧力矩进行优化求解,形成了一种齿条导轨组件直线度与平行度调校方法,并通过有限元仿真验证了该调校方法的可行性。结果表明,该方法能够根据导轨偏移量求解相应位置的调整螺钉力矩,减小导轨调校的盲目性,降低导轨安装的直线度和平行度误差,提高直线导轨的安装精度。

基于肤面形状模型的并联机械装配精度分析

针对现有并联机械装配精度分析中未考虑形状偏差空间分布特征,且并联连接的配合面相对定位偏差的计算未结合实际装配过程而导致的装配精度分析精确性不足的问题,首先,基于非高斯肤面形状模型,提出了结合装配过程的并联连接配合面相对定位偏差计算方法;其次,基于雅克比-旋量模型,提出了雅克比-非高斯肤面形状模型,以实现对并联机械装配的偏差传递累积分析;最后,以直齿圆锥齿轮箱为例,通过蒙特卡洛仿真分别获得了轴交角相对误差ΔRα和中心距相对误差ΔTd频率分布,结果表明形状偏差空间分布特征对并联机械装配精度分析具有不可忽视的影响,该方法可为公差设计提供理论指导,以保障高精度机械产品的装配质量要求。

Cusp points and assembly changing motions in the PRR-PR-PRR planar parallel manipulator

Most parallel manipulators have multiple solutions to the direct kinematic problem.The ability to perform assembly changing motions has received the attention of a few researchers.Cusp points play an important role in the kinematic behavior.This study investigates the cusp points and assembly changing motions in a two degrees of freedom planar parallel manipulator.The direct kinematic problem of the manipulator yields a quartic polynomial equation.Each root in the equation determines the assembly configuration,and four solutions are obtained for a given set of actuated joint coordinates.By regarding the discriminant of the repeated roots of the quartic equation as an implicit function of two actuated joint coordinates,the direct kinematic singularity loci in the joint space are determined by the implicit function.Cusp points are then obtained by the intersection of a quadratic curve and a cubic curve.Two assembly changing motions by encircling different cusp points are highlighted,for each pair of solutions with the same sign of the determinants of the direct Jacobian matrices.

Sequencing Mixed-model Production Systems by Modified Multi-objective Genetic Algorithms

As two independent problems,scheduling for parts fabrication line and sequencing for mixed-model assembly line have been addressed respectively by many researchers.However,these two problems should be considered simultaneously to improve the efficiency of the whole fabrication/assembly systems.By far,little research effort is devoted to sequencing problems for mixed-model fabrication/assembly systems.This paper is concerned about the sequencing problems in pull production systems which are composed of one mixed-model assembly line with limited intermediate buffers and two flexible parts fabrication flow lines with identical parallel machines and limited intermediate buffers.Two objectives are considered simultaneously：minimizing the total variation in parts consumption in the assembly line and minimizing the total makespan cost in the fabrication/assembly system.The integrated optimization framework,mathematical models and the method to construct the complete schedules for the fabrication lines according to the production sequences for the first stage in fabrication lines are presented.Since the above problems are non-deterministic polynomial-hard（NP-hard）,a modified multi-objective genetic algorithm is proposed for solving the models,in which a method to generate the production sequences for the fabrication lines from the production sequences for the assembly line and a method to generate the initial population are put forward,new selection,crossover and mutation operators are designed,and Pareto ranking method and sharing function method are employed to evaluate the individuals＇ fitness.The feasibility and efficiency of the multi-objective genetic algorithm is shown by computational comparison with a multi-objective simulated annealing algorithm.The sequencing problems for mixed-model production systems can be solved effectively by the proposed modified multi-objective genetic algorithm.

Combined method for parallel manipulator configuration design

Configuration design is an essential, creative and decision-making step in parallel manipulator design process, in which modeling and assembly are iterative and trivial. Combined approach with automatic parametric modeling and automatic assembly is proposed for parallel manipulator configuration design. The design process and key techniques, such as configuration design, configuration verification, poses calculation of all parts in parallel manipulator, virtual assembly and etc., are discussed and demonstrated by an example. A software package is developed for parallel manipulator configuration design based on the proposed method with Visual C+ + and UG/OPEN on Unigraphics.

Minimizing Products Rates Variation in Just-in-Time Mixed-Model Manufacturing

Mixed-Model assembly lines are often used in manufacturing based on just-in-time techniques. The effective utilization of these lines requires a schedule for assembling the different models be determined. The objective is to minimize the total deviation of actual production rates from the desired production rates. Mathematical method with the optimization algorithm is proposed here to solve this problem. To prove the efficiency of the proposed algorithm, a number of test problems are solved. The results show that the proposed algorithm is an efficient and effective algorithm which gives better results with the large problem sizes. This paper presents a practical procedure to minimize total product variation rates, and easy to use by practitioner.

基于装配式平行施工实践

与以往的体育场馆相比,国家速滑馆工期较为紧张,建筑造型独特,专业工种多。为保证冬奥工程如期竣工,基于用全生命周期的BIM技术、全过程的仿真技术、精密构件加工技术、精准的安装技术、高精度的测控技术偏差实时调整技术和钢结构滑移法满足钢结构、混凝土结构、索结构等在施工现场平行施工。此外,钢结构、索结构、看台板、围护结构、部分装饰装修工程均采用工厂预制加工、施工现场拼装的装配式施工,实现了多专业、多工种高效、高精度的平行施工。

项目式教学模式在微机原理课程中的应用

随着新工科概念的提出,培养专业人才成为当务之急,而教学模式的改革与创新是人才培养的关键。微型计算机原理及应用作为电气工程及其自动化专业的一门核心专业课,采用项目式教学模式是对课程理论教学改革的一种新方法。本文以任务驱动教学为导向,通过软件结合硬件的实验加深了学生对微机原理知识的掌握,激发了学生的学习兴趣,提升教学效果。

统一计算架构下的装配精度并行计算模型

针对复杂装配体在多指标需求下装配精度计算效率低下的问题,提出了一种基于统一计算架构(CUDA)的多误差传递路径装配精度并行计算模型。首先,对局部并联结构进行旋量转换,得到涵盖串并联的小位移旋量(SDT)模型,在此基础上将装配特征作为误差传递单元,通过构建姿态变换和误差传递模型,分解误差传递过程,为后续并行计算提供支持;然后,对多功能需求(FR)误差传递路径按类型特征进行路径合并和误差旋量复用,减少计算量和数据生成量;最后,设计算法数据结构,根据任务需求分配线程任务、合理分配内存及降低访存时延。采用该模型对某型航发高压压气机转子的装配精度进行仿真计算,结果表明:与传统CPU模型相比,所提模型的装配精度计算速度提高了约97.3倍,能够为复杂装配体的装配精度计算和公差设计提供支持。

Collaborative force and shape control for large composite fuselage panels assembly

This study proposed a force and shape collaborative control method that combined method of influence coefficients(MIC)and the elitist nondominated sorting genetic algorithm(NSGA-II)to reduce the shape deviation caused by manufacturing errors,gravity deformation,and fixturing errors and improve the shape accuracy of the assembled large composite fuselage panel.This study used a multi-point flexible assembly system driven by hexapod parallel robots.The proposed method simultaneously considers the shape deviation and assembly load of the panel.First,a multi-point flexible assembly system driven by hexapod parallel robots was introduced,with the relevant variables defined in the control process.In addition,the corresponding mathematical model was constructed.Subsequently,MIC was used to establish the prediction models between the displacements of actuators and displacements of panel shape control points,deformation loads applied by the actuators.Following the modeling,the shape deviation of the panel and the assembly load were used as the optimization objectives,and the displacements of actuators were optimized using NSGA-II.Finally,a typical composite fuselage panel case study was considered to demonstrate the effectiveness of the proposed method.

Error modeling, sensitivity analysis and assembly process of a class of 3-DOF parallel kinematic machines with parallelogram struts

This paper presents an error modeling methodology that enables the tolerance design, assembly and kinematic calibration of a class of 3-DOF parallel kinematic machines with parallelogram struts to be integrated into a unified framework. The error mapping function is formulated to identify the source errors affecting the uncompensable pose error. The sensitivity analysis in the sense of statistics is also carried out to investigate the influences of source errors on the pose accuracy. An assembly process that can effectively minimize the uncompensable pose error is proposed as one of the results of this investigation.