The computer aided process planning will certainly play a significant role in the success of enterprise information-ization.3-dimensional design will promote Tri-dimensional process planning.This article analysis nowa...The computer aided process planning will certainly play a significant role in the success of enterprise information-ization.3-dimensional design will promote Tri-dimensional process planning.This article analysis nowadays situation and prob-lems of assembly process planning,gives a 3-dimensional computer aided process planning system(3D-VAPP),and researches on the product information extraction,assembly sequence and path planning in visual interactive assembly process design,dynamic emulation of assembly and process verification,assembly animation outputs and automatic exploding view generation,interactive craft filling and craft knowledge management,etc.It also gives a multi-layer collision detect and multi-perspective automatic camera switching algorithm.Experiments were done to ualidate the feasibility of such technology and algorithm,which established the foundation of tri-dimensional computer aided process planning.展开更多
The multi-robot coordinated lifting system is an unconstrained system with a rigid and flexible coupling.The deformation of the flexible rope causes errors in the movement trajectory of the lifting system.Based on the...The multi-robot coordinated lifting system is an unconstrained system with a rigid and flexible coupling.The deformation of the flexible rope causes errors in the movement trajectory of the lifting system.Based on the kinematic and dynamic analysis of the lifting system,the elastic catenary mod-el considering the elasticity and mass of the flexible rope is established,and the effect of the deform-ation of the flexible rope on the position and posture of the suspended object is analyzed.According to the deformation of flexible rope,a real-time trajectory compensation method is proposed based on the compensation principle of position and posture.Under the lifting task of the low-speed move-ment,this is compared with that of the system which neglects the deformation of the flexible rope.The trajectoy of the lifting system considering the deformation of flexible rope.The results show that the mass and elasticity of the flexible rope can not be neglected.Meanwhile,the proposed trajectory compensation method can improve the movement accuracy of the lifting system,which verifies the ef-fectiveness of this compensation method.The research results provide the basis for trajectory plan-ning and coordinated control of the lifting system。展开更多
文摘The computer aided process planning will certainly play a significant role in the success of enterprise information-ization.3-dimensional design will promote Tri-dimensional process planning.This article analysis nowadays situation and prob-lems of assembly process planning,gives a 3-dimensional computer aided process planning system(3D-VAPP),and researches on the product information extraction,assembly sequence and path planning in visual interactive assembly process design,dynamic emulation of assembly and process verification,assembly animation outputs and automatic exploding view generation,interactive craft filling and craft knowledge management,etc.It also gives a multi-layer collision detect and multi-perspective automatic camera switching algorithm.Experiments were done to ualidate the feasibility of such technology and algorithm,which established the foundation of tri-dimensional computer aided process planning.
基金the National Natural Science Foundation of China(No.51965032)the Natural Science Foundation of Gansu Province of China(No.22JR5RA319)+1 种基金the Science and Technology Foundation of Gansu Province of China(No.21YF5WA060)the Excellent Doctoral Student Foundation of Gansu Province of China(No.23JRRA842).
文摘The multi-robot coordinated lifting system is an unconstrained system with a rigid and flexible coupling.The deformation of the flexible rope causes errors in the movement trajectory of the lifting system.Based on the kinematic and dynamic analysis of the lifting system,the elastic catenary mod-el considering the elasticity and mass of the flexible rope is established,and the effect of the deform-ation of the flexible rope on the position and posture of the suspended object is analyzed.According to the deformation of flexible rope,a real-time trajectory compensation method is proposed based on the compensation principle of position and posture.Under the lifting task of the low-speed move-ment,this is compared with that of the system which neglects the deformation of the flexible rope.The trajectoy of the lifting system considering the deformation of flexible rope.The results show that the mass and elasticity of the flexible rope can not be neglected.Meanwhile,the proposed trajectory compensation method can improve the movement accuracy of the lifting system,which verifies the ef-fectiveness of this compensation method.The research results provide the basis for trajectory plan-ning and coordinated control of the lifting system。
