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
在不含磁芯的无线电能传输WPT(wireless power transmission)系统中,由磁耦合系统引起的损耗是系统损耗的主要组成部分之一,而磁耦合系统的损耗由接收线圈、发射线圈的电阻以及流经收发线圈的电流所决定。结合串/串S/S(series/series)...在不含磁芯的无线电能传输WPT(wireless power transmission)系统中,由磁耦合系统引起的损耗是系统损耗的主要组成部分之一,而磁耦合系统的损耗由接收线圈、发射线圈的电阻以及流经收发线圈的电流所决定。结合串/串S/S(series/series)补偿拓扑无线电能传输的电路响应特性,分析磁耦合系统的线圈感量、线圈电阻与线圈匝数的关系,提出了根据发射、接收线圈电流工况调整收发线圈匝数的磁耦合系统线圈匝数组合优化设计方案。绕制3组不同匝数组合的收发线圈(含优化匝数组合及两组对照匝数组合线圈)用以验证优化方案的可行性。仿真及实验结果均表明:在相同工况下,优化组合方案的线圈总损耗均低于对照组,且整体样机的效率均高于对照组。展开更多
以MATLAB的丰富函数和图形用户界面编程为基础,通过下位机对压力传感器的温度和压力信号采集,利用MATLAB的RS232串口实现GUI(Graphical User Interface)对下位机的数据获取,在GUI上利用MATLAB的神经网络函数完成BP网络的建立?训练以对...以MATLAB的丰富函数和图形用户界面编程为基础,通过下位机对压力传感器的温度和压力信号采集,利用MATLAB的RS232串口实现GUI(Graphical User Interface)对下位机的数据获取,在GUI上利用MATLAB的神经网络函数完成BP网络的建立?训练以对压力传感器温度补偿,将训练后的BP网络权值与阈值通过串口发送给下位机,完成软件标定;结果表明,MATLAB环境下的GUI操作方便,BP网络算法温度补偿精度较高,利用串口通讯可实现在线标定,方法通用性强,可以实现批量生产。展开更多
基金supported by the National Key Research and Development Program for Robotics Serialized Harmonic Reducer Fatigue Performance Analysis and Prediction and Life Enhancement Technology Research(Grant No. 2017YFB1300603)。
文摘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.
文摘在不含磁芯的无线电能传输WPT(wireless power transmission)系统中,由磁耦合系统引起的损耗是系统损耗的主要组成部分之一,而磁耦合系统的损耗由接收线圈、发射线圈的电阻以及流经收发线圈的电流所决定。结合串/串S/S(series/series)补偿拓扑无线电能传输的电路响应特性,分析磁耦合系统的线圈感量、线圈电阻与线圈匝数的关系,提出了根据发射、接收线圈电流工况调整收发线圈匝数的磁耦合系统线圈匝数组合优化设计方案。绕制3组不同匝数组合的收发线圈(含优化匝数组合及两组对照匝数组合线圈)用以验证优化方案的可行性。仿真及实验结果均表明:在相同工况下,优化组合方案的线圈总损耗均低于对照组,且整体样机的效率均高于对照组。
文摘以MATLAB的丰富函数和图形用户界面编程为基础,通过下位机对压力传感器的温度和压力信号采集,利用MATLAB的RS232串口实现GUI(Graphical User Interface)对下位机的数据获取,在GUI上利用MATLAB的神经网络函数完成BP网络的建立?训练以对压力传感器温度补偿,将训练后的BP网络权值与阈值通过串口发送给下位机,完成软件标定;结果表明,MATLAB环境下的GUI操作方便,BP网络算法温度补偿精度较高,利用串口通讯可实现在线标定,方法通用性强,可以实现批量生产。
