To optimize the working time of the flexible polishing industrial robot for watchcases,the polishing efficiency should be improved.Based on the quintic B-spline fitting curve trajectory planning method associated with...To optimize the working time of the flexible polishing industrial robot for watchcases,the polishing efficiency should be improved.Based on the quintic B-spline fitting curve trajectory planning method associated with the optimal time interval and the trajectory point angle,the trajectory route of the flexible polishing industrial robot for case parts was optimized by the Matlab software.The operation time of the flexible polishing industrial robot could reach the optimal level.The joints of the robot can be cooperated with each other to ensure that the motion track of the end-effector of the robot arm is closer to the expected motion track.Based on the Adams software,the obtained trajectory curve of multi-objective optimization was simulated,which verified the trajectory fitted after multi-objective optimization.The angular acceleration and angular plus acceleration curves were improved.Theoretical guidance was carried out for the subsequent experiment by Matlab and Adams simulation analysis.展开更多
提出了一种新型液压机械复合调速传动链,该传动链包含了一套完整的行星机构,用来实现输出端功率的合流.有别于传统的机械液压无级变速系统,该传动链中与行星机构匹配的两个输入端,通过变频器与变量泵,都能实现转速的独立变化,从而可以...提出了一种新型液压机械复合调速传动链,该传动链包含了一套完整的行星机构,用来实现输出端功率的合流.有别于传统的机械液压无级变速系统,该传动链中与行星机构匹配的两个输入端,通过变频器与变量泵,都能实现转速的独立变化,从而可以获得更大调速范围的传动链外特性曲线.使用了Matlab/Simulik等仿真工具进行了理论分析,并且通过PAC System RX3i控制器与iFIX人机交互界面进行了试验分析.结果表明:采用双变量复合控制,可显著提升传动链性能研究范围,优化动力匹配.展开更多
基金Science and Technology Foundation of Jiangxi Province,China(No.TGS2018-01-02)。
文摘To optimize the working time of the flexible polishing industrial robot for watchcases,the polishing efficiency should be improved.Based on the quintic B-spline fitting curve trajectory planning method associated with the optimal time interval and the trajectory point angle,the trajectory route of the flexible polishing industrial robot for case parts was optimized by the Matlab software.The operation time of the flexible polishing industrial robot could reach the optimal level.The joints of the robot can be cooperated with each other to ensure that the motion track of the end-effector of the robot arm is closer to the expected motion track.Based on the Adams software,the obtained trajectory curve of multi-objective optimization was simulated,which verified the trajectory fitted after multi-objective optimization.The angular acceleration and angular plus acceleration curves were improved.Theoretical guidance was carried out for the subsequent experiment by Matlab and Adams simulation analysis.
文摘提出了一种新型液压机械复合调速传动链,该传动链包含了一套完整的行星机构,用来实现输出端功率的合流.有别于传统的机械液压无级变速系统,该传动链中与行星机构匹配的两个输入端,通过变频器与变量泵,都能实现转速的独立变化,从而可以获得更大调速范围的传动链外特性曲线.使用了Matlab/Simulik等仿真工具进行了理论分析,并且通过PAC System RX3i控制器与iFIX人机交互界面进行了试验分析.结果表明:采用双变量复合控制,可显著提升传动链性能研究范围,优化动力匹配.
