Using remote method invocation (RMI) and a distributed object-oriented technique, this paper presents a systematic approach to developing a manufacturing execution system (MES) framework, which is open, modularized, d...Using remote method invocation (RMI) and a distributed object-oriented technique, this paper presents a systematic approach to developing a manufacturing execution system (MES) framework, which is open, modularized, distributed, configurable, interoperable and maintainable. Moreover, the design patterns for the framework .are developed and a variety of functional components are designed by inheriting appropriate patterns. And then an application is constructed by invoking corresponding methods of related components. An MES system implementing the framework and design patterns can be facilely integrated with other manufacturing applications, such as enterprise resource planning (ERP) and floor control system (FCS) .展开更多
An end-effector for a flexible drilling robot is designed, and a novel four-point algorithm of normal attitude regulation for this end-effector is presented. Four non-coplanar points can define a unique sphere tangent...An end-effector for a flexible drilling robot is designed, and a novel four-point algorithm of normal attitude regulation for this end-effector is presented. Four non-coplanar points can define a unique sphere tangent to them in spatial geometry, and the center point of the sphere and the radius can be calculated. The shape of a workpiece surface in the machining area is approximately regarded as such a sphere. A vector from the machining point to the center point is thus approximately regarded as a normal vector to the workpiece surface. By this principle, the algorithm first measures four coordinates on the curve in the drilling region using four sensors and calculates the normal vector at the drilling point, then calculates the error between the normal vector and the axis of the spindle. According to this error, the algorithm further figures out the angles of two revolving axes on the end- effector and the displacements of three linear axes on the robot main body, thus it implements the function of adjusting the spindle to be perpendicular to the curve at the drilling point. Simulation results of two kinds of curved surfaces show that accuracy and efficiency can be realized using the proposed algorithm.展开更多
A new kind of flexible pneumatic wall-climbing robot,named WALKMAN-I,was proposed. WALKMAN-I is basically composed of a flexible pneumatic actuator (FPA),a flexible pneumatic spherical joint and six suction cups. It h...A new kind of flexible pneumatic wall-climbing robot,named WALKMAN-I,was proposed. WALKMAN-I is basically composed of a flexible pneumatic actuator (FPA),a flexible pneumatic spherical joint and six suction cups. It has many characteristics of low-cost,lightweight,simple structure and good flexibility. Its operating principle was introduced. Then three basic locomotion modes,which are linear motion,curvilinear motion and crossing the orthogonal planes,were presented. The safety conditions of WALKMAN-I were discussed and built. Finally,the control system was designed and experiments were carried out. Experimental results show that WALKMAN-I is able to climb on the vertical wall surface along a straight line or a curved path,and has the ability of crossing orthogonal planes and obstacles. The maximum rotation angle reaches 90°,the maximum velocity reaches 5 mm/s,and the rotation angle and the moving velocity of WALKMAN-I can be easily controlled.展开更多
The solidification and interfacial slip in nanometer-scale lubricating films as well as the contact and adhesion of metal crystals have been studied via molecular dynamics simulations. Results show that the critical p...The solidification and interfacial slip in nanometer-scale lubricating films as well as the contact and adhesion of metal crystals have been studied via molecular dynamics simulations. Results show that the critical pressure for the solid-liquid transition declines as the film thickness decreases, in-dicating that the lubricant in the thin films may exist in a solid-like state. It is also found that the interfa-cial slip may occur in thin films at relatively low shear rate, and there is a good correlation between the slip phenomenon and the lubricant solidification. The simulations reveal that a micro-scale adhesion may take place due to the atomic jump during the process of approaching or separating of two smooth crystal surfaces, which provides important information for understanding the origin of interfacial friction.展开更多
基金The National Natural Science Foundation of China (59990470).
文摘Using remote method invocation (RMI) and a distributed object-oriented technique, this paper presents a systematic approach to developing a manufacturing execution system (MES) framework, which is open, modularized, distributed, configurable, interoperable and maintainable. Moreover, the design patterns for the framework .are developed and a variety of functional components are designed by inheriting appropriate patterns. And then an application is constructed by invoking corresponding methods of related components. An MES system implementing the framework and design patterns can be facilely integrated with other manufacturing applications, such as enterprise resource planning (ERP) and floor control system (FCS) .
基金National Science and Technology Major Project(No.2009ZX04014-023)
文摘An end-effector for a flexible drilling robot is designed, and a novel four-point algorithm of normal attitude regulation for this end-effector is presented. Four non-coplanar points can define a unique sphere tangent to them in spatial geometry, and the center point of the sphere and the radius can be calculated. The shape of a workpiece surface in the machining area is approximately regarded as such a sphere. A vector from the machining point to the center point is thus approximately regarded as a normal vector to the workpiece surface. By this principle, the algorithm first measures four coordinates on the curve in the drilling region using four sensors and calculates the normal vector at the drilling point, then calculates the error between the normal vector and the axis of the spindle. According to this error, the algorithm further figures out the angles of two revolving axes on the end- effector and the displacements of three linear axes on the robot main body, thus it implements the function of adjusting the spindle to be perpendicular to the curve at the drilling point. Simulation results of two kinds of curved surfaces show that accuracy and efficiency can be realized using the proposed algorithm.
基金Project (50575206) supported by the National Natural Science Foundation of ChinaProject (BX102716) supported by Xinmiao Program of Zhejiang Province, China
文摘A new kind of flexible pneumatic wall-climbing robot,named WALKMAN-I,was proposed. WALKMAN-I is basically composed of a flexible pneumatic actuator (FPA),a flexible pneumatic spherical joint and six suction cups. It has many characteristics of low-cost,lightweight,simple structure and good flexibility. Its operating principle was introduced. Then three basic locomotion modes,which are linear motion,curvilinear motion and crossing the orthogonal planes,were presented. The safety conditions of WALKMAN-I were discussed and built. Finally,the control system was designed and experiments were carried out. Experimental results show that WALKMAN-I is able to climb on the vertical wall surface along a straight line or a curved path,and has the ability of crossing orthogonal planes and obstacles. The maximum rotation angle reaches 90°,the maximum velocity reaches 5 mm/s,and the rotation angle and the moving velocity of WALKMAN-I can be easily controlled.
基金the National Natural Science Foundation of China (Grant Nos. 59875042, 59735110).
文摘The solidification and interfacial slip in nanometer-scale lubricating films as well as the contact and adhesion of metal crystals have been studied via molecular dynamics simulations. Results show that the critical pressure for the solid-liquid transition declines as the film thickness decreases, in-dicating that the lubricant in the thin films may exist in a solid-like state. It is also found that the interfa-cial slip may occur in thin films at relatively low shear rate, and there is a good correlation between the slip phenomenon and the lubricant solidification. The simulations reveal that a micro-scale adhesion may take place due to the atomic jump during the process of approaching or separating of two smooth crystal surfaces, which provides important information for understanding the origin of interfacial friction.
