Based on an analysis of the relative shaft-to-hole position and attiude errors, as well as of the mechanics and Kinematics in the process of automatic assembly of industrial robots, the paper studies the principle of ...Based on an analysis of the relative shaft-to-hole position and attiude errors, as well as of the mechanics and Kinematics in the process of automatic assembly of industrial robots, the paper studies the principle of construction of dynamic wrists. Type I-3 and Ⅱ-6 dynamic compliant wrists have been designed and made. Prblems in the production of compliant elements and the connection between compliant elements and wrists were also solved. A study on the results of tests of the function of two kinds of dynamic compliant wrists shows that the dynamic compliant wrist's compliancy function can be improved by adding metallic materials having higher longitudinal and transverse rigidity into the softer elstomer. And the design Principle is proved to be feasible and practicable. It can be expected that the use of dynamic compliant wrist will greatly lower the technical requirements of the shaft-hole assembly and the requirements in the resetting accuracy.展开更多
In order to realize the computer aided design of AT shifting element schemes, a mathematical model of shifting element schemes which can be easily identified by computers was built. Taking the transmission ratio seque...In order to realize the computer aided design of AT shifting element schemes, a mathematical model of shifting element schemes which can be easily identified by computers was built. Taking the transmission ratio sequence as an optimization objective and simple shifting logic between adjacent gears through operating only one shifting element as a constraint condition, a fitness function of shifting element schemes was proposed. ZF-8AT shifting element schemes were optimized based on GA work-box of MATLAB, and the feasibility of the optimization algorithm was verified.展开更多
文摘Based on an analysis of the relative shaft-to-hole position and attiude errors, as well as of the mechanics and Kinematics in the process of automatic assembly of industrial robots, the paper studies the principle of construction of dynamic wrists. Type I-3 and Ⅱ-6 dynamic compliant wrists have been designed and made. Prblems in the production of compliant elements and the connection between compliant elements and wrists were also solved. A study on the results of tests of the function of two kinds of dynamic compliant wrists shows that the dynamic compliant wrist's compliancy function can be improved by adding metallic materials having higher longitudinal and transverse rigidity into the softer elstomer. And the design Principle is proved to be feasible and practicable. It can be expected that the use of dynamic compliant wrist will greatly lower the technical requirements of the shaft-hole assembly and the requirements in the resetting accuracy.
基金Project(2011BAG09B00)supported by the National Science and Technology Support Program,China
文摘In order to realize the computer aided design of AT shifting element schemes, a mathematical model of shifting element schemes which can be easily identified by computers was built. Taking the transmission ratio sequence as an optimization objective and simple shifting logic between adjacent gears through operating only one shifting element as a constraint condition, a fitness function of shifting element schemes was proposed. ZF-8AT shifting element schemes were optimized based on GA work-box of MATLAB, and the feasibility of the optimization algorithm was verified.
