机器人匀速仿形运动控制方法研究

为了提高工业机器人在仿形运动中的匀速性能,对匀速仿形跟踪运动方法进行了研究:采用自适应NURBS曲线插补方法生成仿形路径点,根据点云数据进行仿形末端姿态的规划,通过连续路径匀速运动方法生成最终轨迹。最后在matlab仿真平台进行了仿真分析,通过插补次数为35次NURBS插补后,通过连续路径匀速运动轨迹规划生成的轨迹的速度波动由5%降至0.2%以内,验证了该方法的有效性。

压制矩形壳体零件侧表面内凹筋仿形机构设计

为增强矩形壳体零件的刚性和美观度,常常需要在壁部的某些位置成形一定形状和深度的筋。介绍一种仿形机构通过仿形增量成形实现矩形件侧壁内凹筋。实践表明,该仿形机构操作方便安全,同时与之配套的模具简单,获得的矩形件壁部四周的环形压筋连续光顺,质量好。

钢轨打磨机的进给压簧仿真分析

传统的钢轨打磨机通过旋转刚性螺杆实现打磨砂轮的进给控制。针对传统打磨机在做仿形运动时需要频繁地通过手动进退刀来控制进给量的问题,设计了一种新型打磨机进给机构。该机构结合柔性压簧与刚性螺杆两者的优点,避免了频繁手动操作,能够更高效地完成打磨作业。通过Solid Works对进给结构中的压簧进行某工况下的动力与运动仿真,通过仿真数据的对比分析,对压簧的稳定性进行验证,为整个设计过程中筛选合适的压簧提供了有力支持。

一种采用直线轴承的二维仿型自动焊机

滚动直线运动副以其独具的特点获得日益广泛的应用。这里以一个二维仿形自动焊机实例介绍了直线轴承一圆柱导轨为基础的二维仿形运动机构,较好地展示了直线运动副的特色。

Dynamic Diagrams Post Processing Software Tools for Simulation Analysis of Spacecraft Docking Dynamics

Realistic 3D-animation is used in all motion simulation systems of mechanisms and other mechanicals systems. It provides a high-quality illustration of time processes, but it has a weak capability for analysis of their dynamics, for simultaneous display of contact interaction and functioning of mechanisms of different motion types. A spacecraft docking is characterized by a complex contact interaction of docking assemblies with mechanisms and devices of different motion types. Integration and time synchronization of the animation, plots and numerical values greatly facilitates the understanding of dynamics features of these processes. Usage of simple wireframe graphical models allows displaying all contact points. A changing of the set of graphical elements focuses attention on major events of a simulated process. Graphical models developed with consideration of these features and used for spacecraft docking simulation analysis are called dynamic diagrams and described in this paper.