计算机集成制造系统
計算機集成製造繫統
계산궤집성제조계통
COMPUTER INTEGRATED MANUFACTURING SYSTEMS
2010年
4期
710-716
,共7页
并联机器人%双目主动视觉%监测%虚拟样机%运动仿真%有限元分析%标定
併聯機器人%雙目主動視覺%鑑測%虛擬樣機%運動倣真%有限元分析%標定
병련궤기인%쌍목주동시각%감측%허의양궤%운동방진%유한원분석%표정
parallel robots%binocular active vision%monitoring%virtual prototyping%kinematic simulation%finite element analysis%calibration
为解决并联机器人的"盲"工作状态,提高并联机器人的运动精度,提出了一种双目主动视觉监测平台.基于虚拟样机设计方法构建了视觉监测平台的装配体模型,并应用COSMOSMotion进行了运动仿真.基于网格划分方法,对视觉监测平台中的关键运动部件进行了有限元分析,保证了样机设计的可靠性.最后,研制了双目主动视觉监测平台样机,并对该样机进行了标定,确定了样机的结构参数和性能参数.
為解決併聯機器人的"盲"工作狀態,提高併聯機器人的運動精度,提齣瞭一種雙目主動視覺鑑測平檯.基于虛擬樣機設計方法構建瞭視覺鑑測平檯的裝配體模型,併應用COSMOSMotion進行瞭運動倣真.基于網格劃分方法,對視覺鑑測平檯中的關鍵運動部件進行瞭有限元分析,保證瞭樣機設計的可靠性.最後,研製瞭雙目主動視覺鑑測平檯樣機,併對該樣機進行瞭標定,確定瞭樣機的結構參數和性能參數.
위해결병련궤기인적"맹"공작상태,제고병련궤기인적운동정도,제출료일충쌍목주동시각감측평태.기우허의양궤설계방법구건료시각감측평태적장배체모형,병응용COSMOSMotion진행료운동방진.기우망격화분방법,대시각감측평태중적관건운동부건진행료유한원분석,보증료양궤설계적가고성.최후,연제료쌍목주동시각감측평태양궤,병대해양궤진행료표정,학정료양궤적결구삼수화성능삼수.
s:To solve the blind situation and improve motional precision for parallel robots, a kind of binocular active visual monitoring platform was put forward. The assembly model of the monitoring platform was constructed based on virtual prototyping technology. The kinematic simulation was performed by using COSMOSMotion software.Based on the grid plot method, the finite element analysis of the main parts was carried out to ensure the reliability of the machine design. Finally, the prototype of the monitoring platform was developed and also calibrated primarily.And the parameters of the structure and performance of the machine were calibrated.
