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portant; overflow-wrap: break-word !important; font-size: 16px; color: rgb(217, 33, 66);">portant; overflow-wrap: break-word !important;">一、portant; overflow-wrap: break-word !important;">研究背景和意义portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">2022年中国汽车保有量3.19亿辆,同比增长5.63%,市场规模1118.59亿元。portant; overflow-wrap: break-word !important;">我国是世界汽车轮毂生产大国,每年产将近7~8亿。
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portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">轮毂是汽车的重要零部件,直接关系到汽车的整体性能及外观。为减轻重量,提高制造精度,减小惯性阻力,减少油耗,改善外观,大多采用合金材质轮毂,如铝、镁合金和钢等。
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portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">汽车轮毂最终的外观质量“七分靠磨抛,三分靠电镀”,表面磨抛是汽车轮毂生产过程中的一项重要工艺。
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">轮毂的结构复杂,品种、型式多样portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">,portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">连续接触式轮毂抛光自动化难度大portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">。portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">目前仍主要依赖于人工抛光:
portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 14px; color: rgb(136, 136, 136);">工作环境差,危险性高;
portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 14px; color: rgb(136, 136, 136);">抛光精度低,质量不稳定;
portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 14px; color: rgb(136, 136, 136);">劳动强度高,抛光效率低;
portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 14px; color: rgb(136, 136, 136);">生产成本高。portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">机器人化轮毂抛光portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">具有如下优点:
portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 14px; color: rgb(136, 136, 136);">自动化作业、生产效率高;
portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 14px; color: rgb(136, 136, 136);">抛光精度高、质量稳定性好;
portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 14px; color: rgb(136, 136, 136);">灵活度高、适应性好;
portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 14px; color: rgb(136, 136, 136);">生产成本低。portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">影响国内汽车轮毂磨抛机器人系统推广应用的主要问题:portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">1.portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">机器人磨抛工艺研究不足:portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">缺乏系统性的研究方法和有效的材料去除率模型,磨抛工艺参数主要凭经验选择;
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">2.portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">机器人的绝对定位精度偏低:portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">传统的几何参数标定方法难于有效提高机器人的绝对定位精度,影响了离线编程方法的应用;
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">3.portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">主动力控制技术不完善:portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">工业机器人多不具备力控功能,现有气动力控末端执行器动态响应慢、灵活度差,难于保证轮毂磨抛质量一致性;
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">4.portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">缺少轮毂磨抛专用离线编程系统与工艺软件包:portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">主要依赖商portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">用portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">CAD/CAM软件,人工干预多,编程效率低。
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portant; overflow-wrap: break-word !important; font-size: 16px; color: rgb(217, 33, 66);">portant; overflow-wrap: break-word !important;">二、portant; overflow-wrap: break-word !important;">关键问题与技术portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">
portant; overflow-wrap: break-word !important; font-size: 16px; color: rgb(217, 33, 66);">portant; overflow-wrap: break-word !important;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 16px; color: rgb(217, 33, 66);">portant; overflow-wrap: break-word !important;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 16px; color: rgb(217, 33, 66);">portant; overflow-wrap: break-word !important;">三、研究成果及创新portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果1:手腕偏置磨抛机器人设计与控制portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果1.1portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">手腕偏置磨抛机器人设计
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">研究目portant; overflow-wrap: break-word !important;">标:设计满足轮毂磨抛需求的腕部(第五轴)360°工业机器人。
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">解决方案:设计了portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">侧端偏置手腕结构portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">,优化5、6轴系传动与支撑;portant; overflow-wrap: break-word !important; font-size: 15px; letter-spacing: 0.034em; font-family: 微软雅黑;">基于portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">重心集中设计portant; overflow-wrap: break-word !important; font-size: 15px; letter-spacing: 0.034em; font-family: 微软雅黑;">思想,所有关节与杆件结构动态优化;portant; overflow-wrap: break-word !important; font-size: 15px; letter-spacing: 0.034em; font-family: 微软雅黑;">基于portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">刚柔耦合模型portant; overflow-wrap: break-word !important; font-size: 15px; letter-spacing: 0.034em; font-family: 微软雅黑;">进行机器人机构动态优化,完成了机器人机构设计。
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果1.2 手腕偏置磨抛机器人逆运动学建模portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">研究问portant; overflow-wrap: break-word !important;">题:磨抛机器人第五轴存在偏置,逆解解析解难以求取。
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portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">解决方案:基于手腕侧端偏置结构特点,构建了新型的非线性方程组,减少计算量;
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">提出了由粗到精的两步法求解手腕偏置机器人逆解,收敛速度。
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果1.3 磨抛机器人末端姿态优化和关节轨迹规划portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">研究目标:如何使机器人轮毂磨抛加工时保持最佳工作姿态?
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portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">解决方案:建立了基于评价指标的优选工作空间机制,优选出机器人高灵活性运动空间;portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">基于机器人末端位置和姿态变化阈值,提出了改进的portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">DP算法,优选加工路径点。
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portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果2:机器人精度标定与误差补偿portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">研究目标:通过机器人精度标定与误差补偿,提高机器人绝对定位精度。
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portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">解决方案:提出局部指数积公式建立机器人几何误差模型,采用最小二乘法对参数进行辨识,并对误差进行补偿;提出高斯学习方法实现机器人非几何误差模型建立与误差补偿。
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portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果3:力控末端执行器与机器人力位混合控制portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果3.1 单自由度力控末端执行器设计portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">研究目标:研发一种新型精度高、响应快、柔性好、质量轻的单自由度气电混合式力控末端执行器,以实现高精度接触力控制,满足工业机器人抛光、打磨、去毛刺等连续接触式作业。
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">解portant; overflow-wrap: break-word !important; letter-spacing: 0.034em; font-size: 15px; font-family: 微软雅黑;">决方案:气电混合并联驱动,既提高力控精度,有效缓和冲击与振动,提高力控稳定性;portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">电动部分采用音圈电机直驱,动态响应快,力控精度高portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">;portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">增加拉伸弹簧,可有效补偿重力,又提高了系统刚度和动态响应。
portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果3.2 基于双力传感器的单自由度力控末端执行器力控方法portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">研究问题:基于动力学模型的控制方法,虽然可以提高响应速度和稳态精度,由于物理建模与数据建模过程存在模型误差和参数误差,力控性能仍受限。
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">研究方法:基于双力传感器宏微系统解耦控制方法。
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果3.3 2R1T力控末端执行器设计portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">研究目标:研制具有两转动一平动(2R1T)自由度的力控末端执行器,用于复杂曲面磨抛作业。具备简洁的运动学关系、低运动质量。
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">解决方案:采用结构紧凑、刚度高的3PPS并联机构,基于“零扭转”特性和改进的姿态描述方法推导了解析且线性的位移正解,便于机构设计与控制;portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">柔性铰链(导轨)刚柔混合设计,低运动质量、无摩擦portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">;portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">主动关节采用音圈电机直驱,高动态响应portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">。
portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果3.4 基于接触点位姿补偿的2R1T末端执行器力控方法portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">研究问题:传统机器人应用通常将末端执行器视为刚体,难以补偿2R1T力控末端执行器倾角变化导致的接触点偏移,降低了宏微机器人磨抛系统的力控精度。
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">解决方案:引入接触点补偿模型的混合姿态/力控制算法。
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果4:轮毂磨抛工艺建模与软件包开发portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">4.1 面向端磨工艺的法向接触力建模
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">研究问题:磨具与工件存在接触倾角,如何预测法向接触力随接触倾角和工件曲率的变化。
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">解决方案:通过微分几何分析,得到以接触倾角和工件曲率半径为变量的接触深度分布函数;portant; overflow-wrap: break-word !important;">基于非线性应力-应变模型,进一步得到幂函数形式表达的法向接触力半解析公式。
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">4.2 表面粗糙度分析与磨抛工艺参数优化portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">研究目portant; overflow-wrap: break-word !important;">标:建立以表面粗糙度为评价指标的分析模型,并对工艺参数进行优化。
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">解决方案:提出了以表面粗糙度为评价指标的工艺参数分析模型,更适合机器人的抛光作业;基于多因素正交实验方法,确定最主要影响因素及各工艺参数的最优值。
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">4.3 机器人离线编程系统portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">研究问题:汽车轮毂种类繁多、形状复杂,导致机器人编程工作量大、效率低
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">解决方案:由工件三维数模直接生成机器人程序,大幅度提高了复杂空间曲面的离线编程效率;提出了工具轨迹优化方法,工件曲面的UV线-轨迹/轮廓偏差-优化,加工平顺性和加工质量;实现了机器人离线运动仿真,仿真后的数据可直接导出为机器人程序。
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">4.4 轮毂磨抛工艺软件包portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">研究目portant; overflow-wrap: break-word !important;">标:研发面向轮毂机器人磨抛的工艺数据库与工艺软件包。
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">解决方案:建立了磨抛工具库与工艺数据库,定义了不同型号,不同区域的抛光工具及工艺参数;开发了轮毂磨抛专用工艺软件包,推荐优化工艺参数与工具,提高磨抛效率与质量
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">成果5:轮毂智能磨抛系统集成与示范应用portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">5.1 轮毂智能磨抛系统集成
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">5.2 轮毂智能磨抛系统示范应用
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 16px; color: rgb(217, 33, 66);">portant; overflow-wrap: break-word !important;">四、结论与应用portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">针对轮毂磨抛需求,研发了6款力控末端执行器、1款磨抛机器人(腕端运动范围360°)和2个应用示范单元(小尺寸简单轮毂磨抛和大尺寸复杂轮毂磨抛)。
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">结论portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">1.轮毂磨抛建模与工艺参数优化:portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">提出了磨抛过程的半解析接触力模型;提出了轮毂表面粗糙度模型的工艺参数优化方法。
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">2.机器人系统研制与参数标定:portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">研发了腕端360°转动的磨抛机器人系统,提出了两步法逆解求取方法;提出了机器人几何与非几何误差参数辨识与误差补偿方法。
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">3.力控末端执行器与机器人力位混合控制portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">:研发了6款力控末端执行器,满足portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">不同磨抛应用需求;portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">提出了基于双力矩传感器和接触点位姿补偿的机器人力控方法。
portant; overflow-wrap: break-word !important; font-family: 微软雅黑; font-size: 15px; letter-spacing: 0.034em;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">4.离线编程系统与工艺软件包开发portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">:开发了轮毂磨抛机器人离线编程系统,开发了轮毂磨抛工艺软件包。
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">5.产教融合:portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;">场景认知-主动学习;目标导向-引领创新创业;学科交叉,科研促进教学。
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">复杂表面检测与修型机器人系统portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">面向复杂弹性表面处理需求,开发了集智能检测与机器人修补工艺结合的重载复合机器人系统。
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">应用与产业化——芜湖英视迈智能科技有限公司portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">
portant; overflow-wrap: break-word !important; font-size: 15px;">portant; overflow-wrap: break-word !important; font-family: 微软雅黑;">portant; overflow-wrap: break-word !important;" />
portant; overflow-wrap: break-word !important; font-size: 15px; font-family: 微软雅黑;">轮毂加工去毛刺工艺,目前以人工为主,粉尘和劳动强度是最大挑战,团队已完成轮毂自动去毛刺机器人开发工作,形成了轮毂自动去毛刺工作站。借助轮毂2D图纸/3D模型自动规划窗口去毛刺路径,通过高精度2D相机识别与定位,实现轮毂自动化混线去毛刺加工。
-九游体育入口上糊机温度缺乏时会怎样?上糊机是设有温度缺乏马达不发动设备的。当上糊机温度缺乏时,马达不发动,加热至满足温度时#4马达发动指示灯亮起,方可发动马达开端作业。这种设备很有用,能够提示作业中的人合理的使用时刻。不一样的是,上糊机需求用到热熔胶料,而烫板则不需求。上糊机是使用消融胶料而粘合,烫板直接消融一层资料起到粘合。
1、机组人员在机长指导下,按分工的部位规范地检查保养上糊机,把检查保养的情况向机长汇报。 2、保养机器必须穿戴劳动保护用品。 3、保养上糊机之前和工作结束之后,必须清理工具不能把工具遗留在机器之内。
将印刷好的面纸送入上胶系统,经上胶涂布后送到传输带上等待纸板定位。该系统在飞达后面安装了双张检测装置,防止因温度、湿度等原因造成的一次输送两张或多张现象,抽胶装置采用日本原装进口抽胶泵及变频器控制,不但胶量调节方便,而且性能稳定。
随着时代的不同,科学技术的不断提高,现如今的产品越来越精湛高端了,为我们生活中带来极大的便利的同时,也在不断地丰富着我们的生产方式方法。就好比全自动成型机以及礼盒开槽机来说,它们的需求量都是比较大的,也是比较多人喜欢使用的。
一般的根据产品系列,可分为纸盒成型机、装箱机、装盒机、卸箱机等。根据机器的自动化程度可分为自动成型机和自动纸盒成型机。纸盒成型机的发展空间与纸箱包装的应用前景紧密相关。香烟,酒精,食品,药品,小型家用电器,化妆品等的市场份额正在增加,并且它们都需要好的纸盒包装,因此有足够的空间来开发纸盒成型机。
九游体育压泡机是一种专门用于解决纸盒制作成型后贴合面有气泡,发包,褶皱,变形等问题的新型压平修正设备.压泡机是一种专门用于解决纸盒制作成型后贴合面有气泡,发包,褶皱,变形等问题的新型压平修正设备.