为了解决机器人在生产应用中的精度问题,提出一种基于视觉测量方法的运动学标定,提高机器人末端位置精度.根据该Tripod机器人的结构特点及几何参数,建立运动学模型;分析机构多项几何误差源,采用解析法得到动平台末端位置与机器人几何误差源间的误差映射模型,进一步简化得到零点误差映射模型;提出一种采用视觉作为误差测量的测量方法,并采用最小二乘法构造辨识模型对零点误差进行辨识;对标定实验进行测点规划,通过拟定的实验步骤对机器人进行标定实验;用修正输入的补偿模型对误差进行补偿,并通过激光跟踪仪验证标定前后的位置精度.经验证末端位置精度显著提高,表明了该视觉测量方法的可行性和有效性,以及该测量方法的简单便捷.

对一种H形并联机构进行了运动学和动力学分析,求出了机构的自由度,运用叠加原理建立了机构的运动学逆解、速度和加速度模型.利用虚功原理建立了机构的反向动力学模型,在分析机械系统中各运动部件在虚位移下的广义力基础上,推导出其动力学方程.通过MATLAB与Adams联合仿真以及特性实验,验证了反向动力学模型的正确性.为相似并联机构的动力学分析和轨迹规划奠定了基础,也为少自由度并联机器人精确控制提供了理论支撑.

为了提高电弧增材制造成形件的成形精度,三维模型进行切片后的截面轮廓需要进行一定熔宽的偏置,在偏置过程中,轮廓环会出现自交.针对偏置轮廓的自交,采用优化的严格单调链(SMC)求交算法求取偏置轮廓的自交点,提高了求交点的效率;采用向量法判别无效环,提高了无效环的去除效率;通过模型切片和电弧增材成形实验,验证了算法的有效性.实验表明:自交处理算法减少了电弧增材制造中材料的浪费和提高了成形件表面尺寸精度.

提出了一种新型可重构码垛机器人模块化控制系统.根据机构和运动特性,利用工控机(IPC)、运动控制卡、可编程逻辑控制器(PLC)和人机界面(HMI)实现了控制系统.建立了具有系统层、规划层和资源层的混合式可重构控制体系结构.同时也建立了功能模块的参数化模型,然后系统会根据需要通过一定的重构规则和执行规则对功能模块进行配置,并简单阐述了重构规则和执行规则的设计.通过在件烟码垛自动上下料项目上的运用,验证了系统的可行性.

针对元件的抓取路径规划问题,提出一种以最小化时间为目的,结合蚁群算法和禁忌搜索算法的混合优化算法。首先,将基于机器视觉抓取元件的问题确定为有约束的旅行商问题(TSP);然后,分析了元件大小和抓取放置过程对于路径规划的综合影响,对路径选择概率和禁忌域进行了适应性改进;其次,一方面引入了2-opt局部优化以及信息素惩罚、奖励机制以改善蚂蚁的搜索能力,另一方面对信息挥发因子作适应性改进以提高蚂蚁的自适应能力;最后,针对基本算法和改进的混合优化算法,仿真实验和平台实验分别进行了性能指标和抓取时间的对比分析。实验结果表明,仿真环境下,与蚁群优化(ACO)算法和禁忌搜索(TS)算法相比,混合优化算法的平均迭代次数降低了约50%,且其他性能较为优越,平台测试的抓取用时测试结果也说明了混合优化算法较随机结果和基本算法的优越性,可以快速完成元件抓取任务。

对一种十字形并联机构进行了运动学分析,求出了其机构自由度,运用运动学叠加原理求出其位置正解和逆解,利用雅可比矩阵的条件数对其进行了运动性能评价.计算结果表明该机构雅可比矩阵的条件数恒等于1,具有优越的各向同性性能.基于拉格朗日方程导出十字型并联机构的动力学模型,并分析其动力学特性.通过MATLAB进行算例分析,讨论了十字型并联机构的机构等效惯量、驱动力矩等参数在给定运动规律下的表现.结果 表明,该机构具有良好的对称性和稳定性,机构等效惯量是常数,只取决于机构本身的结构,而驱动力矩受载荷质量影响最大.

要提高STL模型精度,必然会增加三角形面片数目,导致程序处理复杂度增加.文中针对单道焊缝特点,在一定模型转化误差下,通过设置距离阈值和拟合点数范围的方法来确定切面轮廓的插值曲线段数,然后提出了基于Akima插值和参数三次样条曲线相结合的算法对轮廓点分段构造插值曲线,并计算插值点,以得到较精确的轮廓轨迹点.最后在采用熔化极气体保护焊的快速成型设备上运行生成的轮廓轨迹G代码,验证了该算法的有效性.

Aiming at position error of linear motion of a type of electric cylinder,a composite patterns error compensation method of "least squares linear fitting compensation,nonlinear adaptive fuzzy PID of nonlinear error compensation" is proposed,specially analyze on nonlinear error compensation and mathematical model for electric cylinder test system is established and simulated to prove the reliability of the adaptive fuzzy PID compensation.It is combined with the experiment to verify and it is proved that the method is feasible and ideal effect is obtained.

对Tripod并联机器人进行了运动学分析,计算了机构自由度,采用矢量代数法和数值法求出了运动学位置逆解和位置正解.利用Jacobian矩阵的条件数对其进行了运动性能评价,分析了其可达工作空间.计算结果表明该机构具有优越的各向同性性能和广阔的可达工作空间.通过ADAMS和Matlab运动学仿真软件对正解和逆解分别进行了验证.仿真实验结果证明了所建模型的正确性.并对Tripod并联机器人样机进行了精确定位实验、直线插补实验和圆弧插补实验,实验证明机构所建数学模型的正确性.

大型模锻液压机是生产航空、舰船大型模锻件,发展大型军事装备和其他大型装备必须的基础设备.为了解决大型模锻压机实验平台的多液压缸同步控制问题,研制了一套以PLC和力士乐HNC为控制核心的多液压缸同步控制系统.该同步控制系统是基于电液伺服同步控制原理.通过对液压实验台同步控制实验结果的分析,验证了该系统的性能.

《单片机原理及接口技术》课程具有概念抽象、实践强的特点，本文针对机械类本科《单片机原理及接口技术》的教学现状，提出从课堂教学、实践教学、考核方式三方面进行改革。课堂教学与实践教学的一体化教学模式有效促进了学生的学习兴趣，使学生的单片机应用能力有较大提高，取得了良好的教学效果。

In order to solve the problem of current electric cylinder test system and test method can’t meet the requirements of electric cylinder performance test,a parameter measurement system is designed in the paper and it contains industrial computer as upper machine,and Leisai DMC5480 movement control card as center controller,and high precision magnetic grid ruler as detection device.Firstly,an open automatic test system and test method for electric cylinder and function test module are designed for the system.Then, combining with data detection device,by the VB and API function library,the paper designs open hardware structure and software platform for the system,which includes location accuracy,return error,repeat positioning accuracy,error analysis and compensation,and error analysis and compensation as well.The system has been successfully applied to the electric cylinder parameter measurement of a company.

Aiming at the problem of multi?cylinder synchronous motion of hydraulic system of large hydraulic machines, a solution to achieve the precision synchronous control by using a hydraulic numerical controller ( HNC) was put forward. The control principle, system hardware and software structure of the hydraulic test platform were elaborated. The normal operation of the hydraulic test plat?form was realized by this system, and the tested data was analyzed. The test results indicate that the application of HNC in the hydraulic control system has very high precision.

Through kinematic analysis of the H-shaped parallel mechanism,the degree of freedom was derived.The inverse and forward position model of this mechanism were established by employing kinematic superposition principle and the analytical solution was obtained.The condition number of Jacobian matrix was derived and the workspace was analysed.The result of the calculation shows that this mechanism had perfect isotropic properties and specious workspace.Further analysis of the inverse position solution adopting homogeneous transformation and matrix decomposition indicated that the trajectory between the input and output coordinate was geometrically similar.Based on that,a control strategy for fine interpolation only using general motion controller was proposed.A model machine was developed and a series of experiments were carried out,such as line/circle interpolation,continuous interpolation and etc.The results suggest that the mathematical model established for this parallel mechanism was correct.

This paper made an introduction and an analysis on the working mechanism of the FDL of the Profibus protocol,then the MAC layer protocol of the Profibus-DP was modified——the original priority setting and scheduling strategy were changed,so that it can be better used in some specific distributed control systems.Besides,based on the queuing theory,this paper also made a model of the new MAC layer protocol,and a response waiting time formula was inferred from the dynamic time limited service strategy.Finally,through the calculation of an example,this paper illustrated the relation between TTR and response waiting time.

This paper studies algorithm of the giant die forging press control system of main loop, based on the national major science and technology project (2009ZX04005-011).Finally the design of the main oil system of Large die forging press is based on the single neuron adaptive PID control of quadratic performance index the learning algorithm. This system uses the system view. In the theory of controlling, the control model of each part is hard to be precise. We can also get relatively precise system using the method of system. In this paper, this system simulates in the MATLAB. The simulation results show that the control system has the high response speed, higher stability precision, strong disturbances ability, strong robustness and adaptive ability.

During the development process of 400 t automatic hydraulic powder press,through ways of matlab calculation and experimental comparison,we obtained two fruits to keep higher quality of the compacts: one was finding the effects on green density produced by pressure,height of the placed powder,compression ratio,speed of compacting and so on,and the other was learning the requirements of getting even green density.Furthermore,according to relevant technical books and the technical indexes provided by Jiangdong Machine Factory,we analyzed pressing factors and designed parameters for the 400 t Automatic Powder Metallurgy Press,while combining the characteristics of existing press equipment at home and abroad.Theoretical basis and technical support have been provided for further design and manufacturing of the automatic hydraulic powder press in this industry.

A new energy-saving and fast forging hydraulic press using accumulator was presented be- cause of the problem that 31.5MN fast forging hydraulic press has low energy utilization. The existing fast forging circuit was analyzed. The principle of operation was analyzed. The dynamic model of elec- trohydraulic proportional cartridge valves, accumulator, work batch system, return batch system, and load subsystem were found. The mathematical model of the whole fast forging process and Matlab/Su- link simulation were built. The results show that the fast forging hydraulic press using accumulator performed perfectly and the feasibility was validated

This paper research on a new fault detection method used in large scale die-forging press, based on the national major science and technology project (2009ZX04005-011). This method combines fault tree analysis (FTA) with artificial neural network (ANN), it need to pick up training samples of ANN from fault tree constructing by analyzing system first. An effective network model can be achieved through using BP algorithm to train the samples based on the tree-layer feed-forward network structure. This network model can output fault reasons according to fault symptoms.

This paper research on an electromechanical hydraulic mixture control system used in large scale die-forging press, based on the national major science and technology project (2009ZX04005-011). This mixture control system used in press machine accomplishes pressing, pressure-keeping, return. The control system uses hydraulic oil to control three-position five-path slide valve as hydraulic system main valve, for drive system of giant die forging press is characteristic of ultrahigh pressure and large flow, high power. This control system consists of two parts: firstly, establishing electromechanical hydraulic mixture control model by adding electronics and feedback section to servo slide system. Secondly, combining existing slide control hydraulic cylinder model and server slide system form main circuit closed-loop control system. The last but not least, Computer simulation was conducted by matlab got the ideal control curve.