机器人焊割柱管相贯线的路径规划研究

近年来,柱管接管相贯线接缝焊割由传统的手工焊逐渐被焊割机器人操作所代替。本文建立了圆锥、球体与柱管相贯线的一般化数学模型,并将空间相贯线展成平面曲线,利用等步长原理获取焊割轨迹的路径点。为保证焊割精度,步长的数值由输入的允许插补误差值经计算获得。文中还给出了柱管相贯线获取焊割路径点的流程图。此方法方便了焊割程序的编制,提高了工作效率,同时又保证了焊割的平稳性和精确性。最后给出了一个常见的柱管相贯实例,利用Matlab软件编程得到了其相贯线焊割路径点。     

基于装配序列分析的船体结构焊接位置仿真算法

为合理计算焊接工时,在普适的船舶结构装配原则基础上,根据最小装配、相邻装配、同分支非相邻装配,不同分支装配的焊接阶段、装配基面朝向判定方法、以及焊接位置简化计算原则,构建船体结构焊缝装配仿真算法,通过由装配基面方向进一步计算得到焊接轴线和焊接体朝向,结合中国船级社相关规范确定焊接位置,在Smart3D?软件三维空间中实...     

ANALYZING ON THE VIBRATION CHARACTERISTICS OF A MICRO PIEZOELECTRIC ROBOT IN PIPELINE

IntroductionIt is very important to master the locomotionprinciple of a micro piezoelectric actuator for peo-ple to design a micro piezoelectric actuator or arobot. so far,experimental method has been theonly approach available to design a micro piezoelec-tric actuator or a robot[1～ 4 ] .As a result,itis diffi-cult to make a parameterized design or an optimaldesign for a micro piezoelectric robot. Therefore,it is in dire need to constitute the locomotion equa-tion of the robot. In the paper,t…     

Study and Development of the Biped Ice Skating Robot with Passive Wheels

A new passive wheel type of biped ice-skating robot(BISR)which was able to imitate human skating motion was developed. Firstly, the characteristics of two types of human skating gait were introduced; secondly, after simplifying the kinematical model, the BISR's motion principle was presented; then the construction and control system of BISR were proposed; at last, the skating experiment of the BISR in a symmetric gait mode was conducted and some conclusions were drawn.     

Study on Distributed Motion of Self-Reconfigurable Robot Based on Local Rules

The eigenvector of a module with six adjacent module's state was constructed according to self-reconfigurable robot M-Cubes and the configuration of system was expressed with the eigenvectors of all modules.According to the configuration and motion characteristics of the modules,a 3-dimension motion rule set was provided.The rule sets of each module was run according to eigenvector of the module after the motion direction of system decided and motion rules were selected.At last,the rapid and effective motion and metamorphosis were realized in system.The rule sets are operated on three systems and the distributed motion of system is fully realized.The result of simulation shows that the 3-dimension motion rule sets has perfect applicability and extensibility.The motion steps and communication load of the modules increase with the module number in linear.     

基于机器人的车身焊接技术研究

目前,机器人在我国应用的范围相对比较广阔,在一定程度上能够取代人工的操作。工业机器人在实际的发展过程中是一种集机械以及电子计算技术等为于一体的人工智能的产品。本文研究分析了机器人的车身焊接技术研究。希望在一定的程度上能够为相关的工作人员提供一定的理论支持和实践参考。     

An experimental study on the dynamic response of a hull girder subjected to near field underwater explosion

An experiment of hull girder model subjected to near field underwater explosion at midship is implemented. High-speed photography is applied to achieve the time history of hog displacement of the hull girder model subjected to shock wave of undex. The determination method of hog distortion using these show-motion pictures is presented. The experiment also achieves the local plate distortion of the hull girder model. Based on these works, the damage mechanism and mode of hull girder subjected to near field undex at midship are discovered. Finally, the coupling effect between whole motion of hull girder and distortion of local structure is discussed.     

Real-Time Fuzzy Obstacle Avoidance Using Directional Visual Perception

This paper presents a novel vision-based obstacle avoidance approach for the Autonomous Mobile Robot (AMR) with a PanTilt-Zoom (PTZ) camera as its only sensing modality. The approach combines the morphological closing operation based on Sobel Edge Detection Operation and the (μ-kσ) thresholding technique to detect obstacles to soften the various lighting and ground floor effects. Both the morphology method and thresholding technique are computationaUy simple. The processing speed of the algorithm is fast enough to avoid some active obstacles. In addition, this approach takes into account the history obstacle effects on the current state. Fuzzy logic is used to control the behaviors of AMR as it navigates in the environment. All behaviors run concurrendy and generate motor response solely based on vision perception. A priority based on subsumption coordinator selects the most appropriate response to direct the AMR away from obstacles. Validation of the proposed approach is done on a Pioneer 1 mobile robot.     

型钢加工机器人运行轨迹偏差补偿

提出一个离线编程控制的机器人运行轨迹补偿方法,以解决通用机器人无法适应变形型钢的切割加工难题.一个激光传感器安装在机器人臂端,在机器人执行划线、切割加工前,通过激光位移传感器对工件的形状和位置进行检测,测量数据经数据处理转化为型钢采样点三维坐标,构建型钢实际形状的简化三维模型,并按补偿规则计算加工图形要素补偿量,在线修正机器人运行轨迹坐标.     

大断面隧道PM500PC型机械手喷射混凝土配套施工技术

目前我国长大重难点隧道施工技术突飞猛进,但在隧道施工环境、机械化配套方面与世界相比仍存在较大差距。本文依托厦(门)—深(圳)铁路梅林隧道大断面机械手喷射混凝土施工,详细介绍了PM500PC型机械手的结构组成、适用条件、操作要点等内容,重点对机械手喷射混凝土作业时的灵活性、快速性、方便性、工前准备时间短、使用经济性、施工安全性等六个方面进行了阐述,并与传统湿喷机械进行了比较分析,为普及推广使用机械手喷射混凝土提供了良好的经验借鉴。