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Method for workspace calculation of 6R serial manipulator based on surface enveloping and overlaying
Aiming at the workspace calculation problem of multi-joint serial manipulators, a surface enveloping and overlaying (SEO)
method is presented to identify and visualize the manipulator workspace. The SEO method is composed of two stages: the first
stage is to choose reference points of the manipulator and calculate their boundary surfaces using the nth enveloping method; the second stage is to overlay these boundary surfaces to identify the final workspace. The SEO method
is basically a combination of the analytic method and the numerical method. By delineating the graphic representation of the
workspace step by step, the SEO method is easy to analyze the existence and the shape of voids and holes. The basic theory
of the SEO method and formulas for workspace calculation are presented based on a 6R serial manipulator. By showing the workspace
calculation results, the SEO method is proved working correctly. 相似文献
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真空制冷是一种理想的预冷技术.该技术在蔬菜、果品鲜花等农产品和食品等领域得到了广泛的应用.真空制冷装置中制冷压缩机和真空泵是主要耗能部件.文中选取菠菜为研究对象,着重对捕水器的盘管降到不同温度时再开启真空泵的情形进行能耗分析,以寻找合理配置提高能量利用效率. 相似文献
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PDMS元件库在自升式钻井船项目的应用 总被引:1,自引:0,他引:1
Vantage PDMS为一体化多专业集成布置设计数据库平台,可以进行工程设计最难点--管道详细设计,并可以进行设备、结构、暖通、电缆桥架、支吊架各专业详细设计,同时可以实现各专业间充分关联联动.该文主要研究VantagePDMS软件数据库在自升式钻进船项目配管方面的应用,其中主要包括管道元件库、管道等级库、螺栓库等方面的内容.文章对建库的主要方法进行阐述,对建库过程出现的问题进行研究,总结出Vlantage PDMS软件数据库在工程设计中的注意事项,并探讨了部分问题的解决方法. 相似文献
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