This paper discusses how joint clearance influences robot end effectorpositioning accuracy and a robot accuracy analysis approach based on a virtual prototype isproposed. First, a 5-DOF(Degree of freedom) neurosurgery...This paper discusses how joint clearance influences robot end effectorpositioning accuracy and a robot accuracy analysis approach based on a virtual prototype isproposed. First, a 5-DOF(Degree of freedom) neurosurgery robot was introduced. Then we built itsvirtual prototype, made movement planning and measured the manipulator tip accuracy, through whichthis robot accuracy portrait was obtained. Finally, in order to validate the robot accuracyanalysis approach which is based on a virtual prototype, the result was compared with that from amodel built by robot forward kinematics and robot differential kinematics. The robot accuracyanalysis approach presented in this paper gives a new way to enhance robot design quality , and helpto optimize the control and programming of the robot.展开更多
In order to acquire the dynamic characteristics of joint surfaces of complex assembled structures, a novel parameter identification technique was adopted. Virtual materials were introduced to simulate the stiffness an...In order to acquire the dynamic characteristics of joint surfaces of complex assembled structures, a novel parameter identification technique was adopted. Virtual materials were introduced to simulate the stiffness and damping features of the joint surfaces between two different structures. Properties of the virtual materials, including elasticity modulus, density, and Poisson ratio, were gradually modified. At last, FEM modal results of the assembled structures are consistent with the experimental ones. This proves the feasibility of the simulating method and paves a solid foundation of the further research of the dynamic simulation.展开更多
Welded joint is a mechanical heterogeneous body, and mechanical heterogeneity has great effect on dynamic fracture behaviour of welded joints. In the present investigation, dynamic response curve and dynamic J-integra...Welded joint is a mechanical heterogeneous body, and mechanical heterogeneity has great effect on dynamic fracture behaviour of welded joints. In the present investigation, dynamic response curve and dynamic J-integral of practical undermatched welded joint and whole base and whole weld three-point-bend (TPB) models containing longitudinal crack are com- puted. Dynamic J-integral is evaluated using virtual crack extension (VCE) method and the computation is performed using MARC finite element code. Because of the effect of inertia, dynamic load response curve of computed model waves periodically. Dynamic J-integral evaluated by VCE method is path independent. The effect of inertia has little influence on dynamic J-integral curve. The value of dynamic J-integral of undermatched welded joint is lower than that of whole base metal and higher than that of whole weld metal. The results establish the foundation of safety evaluation for dynamic loaded welded structures.展开更多
文摘This paper discusses how joint clearance influences robot end effectorpositioning accuracy and a robot accuracy analysis approach based on a virtual prototype isproposed. First, a 5-DOF(Degree of freedom) neurosurgery robot was introduced. Then we built itsvirtual prototype, made movement planning and measured the manipulator tip accuracy, through whichthis robot accuracy portrait was obtained. Finally, in order to validate the robot accuracyanalysis approach which is based on a virtual prototype, the result was compared with that from amodel built by robot forward kinematics and robot differential kinematics. The robot accuracyanalysis approach presented in this paper gives a new way to enhance robot design quality , and helpto optimize the control and programming of the robot.
文摘In order to acquire the dynamic characteristics of joint surfaces of complex assembled structures, a novel parameter identification technique was adopted. Virtual materials were introduced to simulate the stiffness and damping features of the joint surfaces between two different structures. Properties of the virtual materials, including elasticity modulus, density, and Poisson ratio, were gradually modified. At last, FEM modal results of the assembled structures are consistent with the experimental ones. This proves the feasibility of the simulating method and paves a solid foundation of the further research of the dynamic simulation.
基金National Natural Science Foundation of China(No.59501011)Science and Technology New Star Project of Beijing.
文摘Welded joint is a mechanical heterogeneous body, and mechanical heterogeneity has great effect on dynamic fracture behaviour of welded joints. In the present investigation, dynamic response curve and dynamic J-integral of practical undermatched welded joint and whole base and whole weld three-point-bend (TPB) models containing longitudinal crack are com- puted. Dynamic J-integral is evaluated using virtual crack extension (VCE) method and the computation is performed using MARC finite element code. Because of the effect of inertia, dynamic load response curve of computed model waves periodically. Dynamic J-integral evaluated by VCE method is path independent. The effect of inertia has little influence on dynamic J-integral curve. The value of dynamic J-integral of undermatched welded joint is lower than that of whole base metal and higher than that of whole weld metal. The results establish the foundation of safety evaluation for dynamic loaded welded structures.
