Fixture Optimization for Robotic Belt Grinding System

2011 ◽  
Vol 121-126 ◽  
pp. 2030-2034
Author(s):  
Dong Zhang ◽  
Chao Yun ◽  
Ling Zhang
Keyword(s):  
Mathematical Model ◽  
Optimization Methods ◽  
Belt Grinding ◽  
Robotic Grinding ◽  
The Monte Carlo Method ◽  
New Type ◽  
Set Up ◽  
Robotic Belt Grinding ◽  
The Mathematical Model ◽  
Grinding System

The precision is impacted when the robotic grinding path is discontinuous and the gripper needs to be replaced during manufacturing. In order to solve this problem, a new type PPPRRR grinding robot was proposed. The mathematical model for the robotic grinding paths was set up. The factors including the pose of the workpiece respect to the end joint and the position of contact wheel respect to the robot base frame {O}were analyzed to influence the grinding ability of the system. Base on the Monte Carlo method the posture and position factors above had been optimized, and the grinding ability of the system was increased. The optimization methods were proved right and workable by grinding golf head experiment.

Theoretical and Experimental Study of the Dynamics of the Tripod-Ball Sliding Joint With Clearance

2001 ◽  
Author(s):  
Jia Xiaohong ◽  
Ji Linhong ◽  
Jin Dewen ◽  
Zhang Jichuan
Keyword(s):  
Mathematical Model ◽  
Equations Of Motion ◽  
Experimental Studies ◽  
Active System ◽  
New Concepts ◽  
Sliding Joint ◽  
New Type ◽  
Set Up ◽  
The Mathematical Model ◽  
Kane Method

Abstract Clearance is inevitable in the kinematic joints of mechanisms. In this paper the dynamic behavior of a crank-slider mechanism with clearance in its tripod-ball sliding joint is investigated theoretically and experimentally. The mathematical model of this new-type joint is established, and the new concepts of basal system and active system are put forward. Based on the mode-change criterion established in this paper, the consistent equations of motion in full-scale are derived by using Kane method. The experimental rig was set up to measure the effects of the clearance on the dynamic response. Corresponding experimental studies verify the theoretical results satisfactorily. In addition, due to the nonlinear elements in the improved mathematical model of the joint with clearance, the chaotic responses are found in numerical simulation.

Research on Dynamic Balance Method of Precision Centrifuge

2014 ◽  
Vol 945-949 ◽  
pp. 777-780
Author(s):  
Tao Liu ◽  
Yong Xu ◽  
Bo Yuan Mao
Keyword(s):  
Mathematical Model ◽  
Balance Control ◽  
Dynamic Balance ◽  
Dynamic Balancing ◽  
Structure Characteristics ◽  
Balance System ◽  
Simulation Results ◽  
Set Up ◽  
System Controller ◽  
The Mathematical Model

Firstly, according to the structure characteristics of precision centrifuge, the mathematical model of its dynamic balancing system was set up, and the dynamic balancing scheme of double test surfaces, double emendation surfaces were established. Then the dynamic balance system controller of precision centrifuge was designed. Simulation results show that the controller designed can completely meet the requirements of precision centrifuge dynamic balance control system.

Study on the working state of the five hundred-meter aperture spherical telescope using step-wise assignment method

2014 ◽  
Vol 229 (2) ◽  
pp. 316-324 ◽  
Author(s):  
Yu Liu ◽  
Feng Gao
Keyword(s):  
Nonlinear Equations ◽  
Analytical Solutions ◽  
Driving Mechanism ◽  
Initial Value ◽  
Unknown Parameters ◽  
Support Structure ◽  
Assignment Method ◽  
New Type ◽  
Set Up ◽  
The Mathematical Model

The working state of the five hundred-meter aperture spherical telescope (FAST) is solved using the step-wise assignment method. In this paper, the mathematical model of the cable-net support structure of the FAST is set up by the catenary equation. There are a large number of nonlinear equations and unknown parameters of the model. The nonlinear equations are solved by using the step-wise assignment method. The method is using the analytical solutions of the cable-net equations of one working state as the initial value for the next working state, from which the analytical solutions of the nonlinear equations of the cable-net for each working state of the FAST and the tension and length of each driving cable can be obtained. The suggested algorithm is quite practically well suited to study the working state of the cable-net structures of the FAST. Also, the working state analysis result of the cable-net support structure of a reduced model of the cable-net structure reflector for the FAST is given to verify the reliability of the method. In order to show the validity of the method, comparisons with another algorithm to set the initial value are presented. This method has an important guiding significance to the further study on the control of the new type of flexible cable driving mechanism, especially the FAST.

scholarly journals A Method for Obtaining Optimal Path in Angle and Avoiding Collision for Robotic Belt Grinding

2019 ◽  
Vol 2019 ◽  
pp. 1-19
Author(s):  
Tie Zhang ◽  
Xiaohong Liang ◽  
Ye Yu ◽  
Bin Zhang
Keyword(s):  
Coordinate System ◽  
Search Algorithm ◽  
Optimal Path ◽  
Recursive Method ◽  
Coordinate Plane ◽  
Angular Variation ◽  
Belt Grinding ◽  
Robotic Grinding ◽  
Path Search ◽  
Robotic Belt Grinding

The angular variation of the joints may be large, and collision between workpieces and tools may occur in robotic grinding. Therefore, this paper proposes an optimal robotic grinding path search algorithm based on the recursive method. The algorithm is optimized by changing the position of the tool coordinate system on the belt wheel; thus, the pose of the robot during grinding is adjusted. First, the position adjustment formula of the tool coordinate system is proposed, and a coordinate plane is established to describe the grinding path of the robot based on the position adjustment formula. Second, the ordinate value of this coordinate plane is dispersed to obtain the search field of the optimal robotic grinding path search algorithm. Third, an optimal robotic grinding path search algorithm is proposed based on the recursive method and single-step search process. Finally, the algorithm is implemented on the V-REP platform. Robotic grinding paths for V-shaped workpieces and S-shaped workpieces are generated using this algorithm, and a grinding experiment is performed. The experimental results show that the robotic grinding paths generated by this algorithm can smoothly complete grinding operations and feature a smaller angular variation of the joint than other methods and no collision.

Valve Gear Refinement

2000 ◽  
Vol 124 (1) ◽  
pp. 86-90 ◽  
Author(s):  
Jurij Avsec ◽  
Milan Marcic ◽  
Maks Oblak
Keyword(s):  
Mathematical Model ◽  
Cam Design ◽  
Cam Follower ◽  
New Type ◽  
Cam Profile ◽  
Profile Design ◽  
Comparison Of The Results ◽  
The Mathematical Model ◽  
Valve Gear ◽  
Lubrication Properties

This paper describes a new type of valve gear cam—MULTICAM—which consists of seven curves and allows an optimum cam profile design. In order to calculate the cinematic and dynamic values and to assess the minimum oil film thickness in the valve gear, the mathematical model of an ideal valve gear was used. In addition, the comparison of the results between the polysine cam and the new MULTICAM cam design was made. By means of the new cam design the Hertz pressures were reduced at the point of contact between the cam and the cam follower and the lubrication properties at the top of the cam improved.

Numerical Analysis of Heat and Mass Transfer Performance of the Packed-Type Parallel Flow Dehumidifier

2014 ◽  
Vol 989-994 ◽  
pp. 3100-3104
Author(s):  
Rui Hang Zhang ◽  
Zi Ye Wang ◽  
Run Ping Niu
Keyword(s):  
Mathematical Model ◽  
Mass Transfer ◽  
Heat And Mass Transfer ◽  
Parallel Flow ◽  
Transfer Performance ◽  
Transfer Coefficients ◽  
Simulation Results ◽  
Set Up ◽  
The Impact ◽  
The Mathematical Model

TA mathematical model describing heat and mass transfer performance of packed-type parallel flow dehumidifier was set up. The numerical solution of differential equations was derived. Taking the heat and mass transfer coefficients obtained by experiments as the input parameters of the model, the impact of solution inlet parameters on outlet parameter of air was described. The simulation results indicated that the mathematical model could be used to predict the performance of liquid dehumidification. The results showed that the mathematical model can be of great value in the design and improvement of dehumidifier.

scholarly journals WAVE ATTENUATION AND WAVE SET-UP ON A COASTAL REEF

1980 ◽  
Vol 1 (17) ◽  
pp. 27 ◽  
Author(s):  
Franciscus Gerritsen
Keyword(s):  
Mathematical Model ◽  
Wave Attenuation ◽  
Scale Effects ◽  
Shallow Reef ◽  
Laboratory Investigations ◽  
Deep Water Wave ◽  
Set Up ◽  
The University ◽  
Incident Waves ◽  
The Mathematical Model

In attempting to specify criteria for the design of structures on coastal reefs, it was found that no adequate method existed to derive those criteria from the deep water wave conditions. In order to fill the gap, a program of measurements and analysis was initiated at the University of Hawaii. The program consisted of prototype and laboratory measurements. Great emphasis was placed on reliable field data, which were collected on Ala Moana Reef, in Honolulu. Laboratory investigations on the behavior of waves on shallow reefs are subject to scale effects; verification from field observations is required to obtain reliable results. As a result of this study, a mathematical model was developed for the calculation of wave attenuation and wave set-up on a shallow reef, using the incident waves in the ocean as boundary conditions. This paper discusses the general behavior of waves approaching a shallow reef and presents some essential characteristics of the mathematical model. The study is limited to waves approaching the shoreline at right angles. The results of this study can be extended to breakwaters with wide, submerged berms.

scholarly journals Working Characteristics of Variable Intake Valve in Compressed Air Engine

2014 ◽  
Vol 2014 ◽  
pp. 1-9
Author(s):  
Qihui Yu ◽  
Yan Shi ◽  
Maolin Cai
Keyword(s):  
Mathematical Model ◽  
Energy Utilization ◽  
Utilization Efficiency ◽  
Compressed Air ◽  
Maximum Output ◽  
Output Torque ◽  
Good Consistency ◽  
Intake Pressure ◽  
Set Up ◽  
The Mathematical Model

A new camless compressed air engine is proposed, which can make the compressed air energy reasonably distributed. Through analysis of the camless compressed air engine, a mathematical model of the working processes was set up. Using the software MATLAB/Simulink for simulation, the pressure, temperature, and air mass of the cylinder were obtained. In order to verify the accuracy of the mathematical model, the experiments were conducted. Moreover, performance analysis was introduced to design compressed air engine. Results show that, firstly, the simulation results have good consistency with the experimental results. Secondly, under different intake pressures, the highest output power is obtained when the crank speed reaches 500 rpm, which also provides the maximum output torque. Finally, higher energy utilization efficiency can be obtained at the lower speed, intake pressure, and valve duration angle. This research can refer to the design of the camless valve of compressed air engine.

Research of Riveting Structure Identification and Characteristic Parameter Analysis Based on SVM

2014 ◽  
Vol 1049-1050 ◽  
pp. 1554-1557
Author(s):  
Jian Feng Yang ◽  
Gang Jiang ◽  
Jian Fei Chen
Keyword(s):  
Mathematical Model ◽  
Image Processing ◽  
Research Result ◽  
Characteristic Parameter ◽  
Parameter Analysis ◽  
Structure Identification ◽  
Support Vector ◽  
Vector Machines ◽  
Set Up ◽  
The Mathematical Model

In order to help department to make a decision whether the equipment need maintenance, some people trained the sample of characteristic parameter for riveting structure, and set up the model to recognize target by computer vision. However, we are difficult to find the research result about the affiliation between the characteristic parameter of the riveting structure and the model. In this paper, we make the image processing first, and use SVM (Support Vector Machines) algorithm to train the sample of characteristic parameter for rivet head. Finally, we research the affiliation between the characteristic parameter for the rivet head and the mathematical model, and test the accuracy of the model.

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