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ONLINE GRINDING WHEEL WEAR COMPENSATION BY IMAGE BASED MEASURING TECHNIQUES 被引量:10
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作者 WAN Daping HU Dejin +1 位作者 WU Qi ZHANG Yonghong 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2006年第4期509-513,共5页
Automatic compensation of grinding wheel wear in dry grinding is accomplished by an image based online measurement method. A kind of PC-based charge-coupled device image recognition system is schemed out, which detect... Automatic compensation of grinding wheel wear in dry grinding is accomplished by an image based online measurement method. A kind of PC-based charge-coupled device image recognition system is schemed out, which detects the topography changes of the grinding wheel surface. Profile data, which corresponds to the wear and the topography, is measured by using a digital image processing method. The grinding wheel wear is evalualed by analyzing the position deviation of the grinding wheel edge. The online wear compensation is achieved according to the measure results. The precise detection and automatic compensation system is integrated into an open structure CNC curve grinding machine. A practical application is carried out to fulfil the precision curve grinding. The experimental results confirm the benefits of the proposed techniques, and the online detection accuracy is less than 5 um. The grinding machine provides higher precision according to the in-process grinding wheel error compensation. 展开更多
关键词 Grinding wheel Wear compensation online measurement Charge-coupled device (CCD)
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A calibration and compensation method for an industrial robot with high accuracy harmonic reducers
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作者 ZHAO YiYang LIU Xun +3 位作者 CAO JiaBin LIU JinYu XU Yan YAN WeiXin 《Science China(Technological Sciences)》 SCIE EI CAS CSCD 2024年第3期725-739,共15页
Industrial serial robots need high stiffness to keep absolute pose accuracy and meet the requirements in practical applications. However, the weak stiffness feature of robot joints and the payloads affected on robot e... Industrial serial robots need high stiffness to keep absolute pose accuracy and meet the requirements in practical applications. However, the weak stiffness feature of robot joints and the payloads affected on robot end-effector, which will also increase the pose error of robot. Especially, the existing calibration methods often consider under no-payload condition without discussing the payload state. In this paper, we report a new industrial serial robot composed by a new harmonic reducer: Model-Y, based on high accuracy and high stiffness, and a kinematic parameter calibration algorithm which is based on a harmonic reducer forcedeformation model. To decrease the accuracy effects of payload, an iterative calibration method for kinematic parameters with payload situation was proposed. Simulation and experiments are conducted to verify the effectiveness of the proposed calibration method using the self-developed industrial serial robot. The results show a remarkably improved accuracy in absolute position and orientation with the robot's payload range. The position mean error has 70% decreased to 0.1 mm and the orientation mean error diminished to less than 0.01° after calibration with compensation. Additionally, online linear and circular tests are carried out to evaluate the position error of the robot during large-scale spatial and low-speed continuous movement. The accuracy is consistent with the previous calibration results, indicating the effectiveness and advantages of the proposed strategy in this article. 展开更多
关键词 industrial serial robot Model-Y harmonic CALIBRATION stiffness model online compensation
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Comprehensive compensation method for the influence of disturbing gravity field on long-range rocket guidance computing 被引量:1
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作者 Yansheng WU Zongqiang WANG Bing ZHANG 《Chinese Journal of Aeronautics》 SCIE EI CAS CSCD 2022年第3期408-418,共11页
With the improvement of the accuracy of the inertial system,the influence of the disturbing gravity field on the accuracy of long-range rocket has become increasingly prominent.However,in actual engineering,there are ... With the improvement of the accuracy of the inertial system,the influence of the disturbing gravity field on the accuracy of long-range rocket has become increasingly prominent.However,in actual engineering,there are problems of low accuracy and being time-consuming for disturbing gravity field compensation.In view of this,this paper proposes a set of online comprehensive solutions combining disturbing gravity reconstruction and stellar correction.According to the pre-launch binding parameters,the net function assignment method is used in the navigation system to calculate disturbing gravity in the boost phase online.In the guidance system,a closed-loop guidance online compensation method is proposed based on the state-space perturbation method for the disturbing gravity in the coast phase.At the same time,the vertical deflection can also be corrected by stellar guidance.The calculation results are simulated and verified under different circumstances.Simulation results show that the proposed online compensation algorithm has an accuracy improvement compared with the element compensation algorithm on ground.And the stellar guidance algorithm can further correct the impact deviation.The impact deviation after comprehensive compensation does not exceed 50 m,and the compensation percentage is greater than 65%. 展开更多
关键词 Disturbing gravity field Long-range rocket online compensation Stellar guidance Vertical deflection
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