共查询到19条相似文献,搜索用时 484 毫秒
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本文分析了分裂钻尖(Split Point)的数学模型及其刃磨方法,并在数控钻头刃磨机上进行了刃磨试验。刃磨出的钻尖具有较好的几何精度和重复精度,从而解决了分裂钻头难以刃磨的困难。 相似文献
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由微机控制的新型钻头刃磨机具有六根受计算机控制的运动轴。根据给定的钻头几何参数,利用微机计算出相应的刃磨参数,通过控制软件设计,可以刃磨多种钻型且具有较高的几何精度和重复精度,经刃磨试验表明该机床可以广泛用于制造领域内的钻头刃磨。 相似文献
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本文建立了群钻的数学模型,开发了钻头的计算机辅助设计系统——Drill CAD,以用于群钻的几何设计。利用该系统可以分析、计算并检验群钻的设计和刃磨参数,分析群钻几何参数对钻型几何形状的影响,并在屏幕上直接进行群钻的三维交互设计。此外,系统还能对钻头横截面几何形状、群钻的切削角度、群钻刃磨模型等进行分析和计算。 相似文献
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为解决双相不锈钢、钛合金和高温合金及其他难以加工的工件材料的钻削难题,Kennametal设计了一种创新解决方案——Y-TECH钻。它具有3个刃带和不对称间距的排屑槽,外形格外引人注目,这种钻头采用KC7315材质制成。YPL(Y-TECH钻尖轻型倒圆)钻尖可防止切屑堵塞,提高钻头定心功能, 相似文献
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可刃磨各种几何形状钻头的G&L钻头磨床中国航空综合技术研究所副所长朱文伯吉丁斯·路易斯(Giddings&Lewis简称G&L)公司创立于1859年,距今已有136年的历史,是当今世界上机床与工厂生产自动化系统的第一流生产制造厂商和成套设备供应商;是... 相似文献
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由北京航空航天大学和北京航空工艺研究所共同研制的CNC—6DG型六座标数控钻头刃磨机样机,于6月23日~24日在部飞机机械连接研究系统组织召开评审、验收会上通过验收。 与会代表认为:这台数控钻头刃磨机设计方案及原理都是正确的。从自动刃磨出的三尖两刃式的钻尖,在钻制凯拉与碳纤维混杂的复合材料中,制孔质量取得明显效果,配上不同程序,可以磨出各种钻尖形状。会议认为,这台设备的研制成功不仅使 相似文献
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通用钻头经过刃磨改进几何角度后,钻削铝镁合金零件,增加了切削性能,保证产品质量,并提高生产效率,以下是钻头的几何角度,以供参考。一、前角:外圆处为8°±3°,越近中心逐渐减小,接近中心处为-13°+3°,如果不把前角磨小当钻头占透时,发生零件往上跳动造成孔椭圆,甚至报废,把不住零件造成机床事 相似文献
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针对传统位姿分离式铺丝机械手灵活性不足的特点,为了提高航空复合材料铺丝过程的灵活性和避障碍能力,提出一种位姿耦合式冗余铺丝机械手自运动流形的新算法。由于冗余铺丝机械手各关节之间的强耦合性增加了逆解的求解难度,该算法将冗余铺丝机械手的关节逆解分解为已知的Paden-Kahan旋量子问题以及由位置关节组成的特殊旋量子问题,并针对特殊旋量子问题进行求解得到冗余铺丝机械手全部逆解,这样相对于位姿分离式解法有效提高了冗余铺丝机械手逆解的求解效率以及求解直观性。由于冗余铺丝机械手的逆解呈现出流形的结构,所以根据冗余铺丝机械手自运动流形的多维特性,将冗余铺丝机械手的自运动流形分别映射到位置关节空间和姿态关节空间得到其三维仿真曲线。由于冗余铺丝机械手逆解流形中的优化流形在实际控制中更具应用价值,所以在铺丝机械手末端执行器沿芯模轨迹运动速度平稳的前提下为了使机械手各关节速度变化最小,提出以冗余铺丝机械手关节速度组成的约束泛函为目标得到相应的运动学优化流形,并为后续的最优控制奠定了基础。最后以某型号飞机S形进气道为例验证了所提方法的可行性。 相似文献
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Identification of the state-space model and payload mass parameter of a flexible space manipulator using a recursive subspace tracking method 总被引:1,自引:0,他引:1
The on-orbit parameter identification of a space structure can be used for the modification of a system dynamics model and controller coefficients. This study focuses on the estimation of a system state-space model for a two-link space manipulator in the procedure of capturing an unknown object, and a recursive tracking approach based on the recursive predictor-based subspace identification (RPBSID) algorithm is proposed to identify the manipulator payload mass parameter. Structural rigid motion and elastic vibration are separated, and the dynamics model of the space manipulator is linearized at an arbitrary working point (i.e., a certain manipulator configuration). The state-space model is determined by using the RPBSID algorithm and matrix transformation. In addition, utilizing the identified system state-space model, the manipulator payload mass parameter is estimated by extracting the corresponding block matrix. In numerical simulations, the presented parameter identification method is implemented and compared with the classical algebraic algorithm and the recursive least squares method for different payload masses and manipulator configurations. Numerical results illustrate that the system state-space model and payload mass parameter of the two-link flexible space manipulator are effectively identified by the recursive subspace tracking method. 相似文献
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Failure treatment strategy and fault-tolerant path planning of a space manipulator with free-swinging joint failure 总被引:1,自引:1,他引:0
Aiming at a space manipulator with free-swinging joint failure, a failure treatment strategy and fault-tolerant path planning method is proposed in this paper. This method can realize failure treatment of a space manipulator with free-swinging joint failure through determination of the optimal locked joint angle and dynamics model reconfiguration. Fault-tolerant path planning is realized by the establishment of the degraded workspace with integrated kinematics performance (DWWIKP) and an improved A-Star (A1) algorithm. This paper has the following contributions. The determination of the optimal locked joint angle can ensure that the manipulator is able to continue follow-up tasks while maximizing the workspace of the manipulator after locking the fault joint. Underactuated control of a high degree-of-freedom (DOF) manipulator can be effectively solved through dynamics model reconfiguration. The analysis process of the dynamics coupling relationship can be applied to cases where the active joint and the passive joint are parallel or perpendicular to each other. The establishment of the DWWIKP can demonstrate the kinematics performance of the manipulator in both joint space and operation space comprehensively. The improved A1 algorithm based on the integrated kinematics performance index (IKPI) can search a fault-tolerant task trajectory that satisfies the requirements of reachability and the overall kinematics performance simultaneously. The method proposed in this paper is verified by a 7-DOF manipulator, and it is available to any DOF manipulator with free-swinging joint failure. 相似文献
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采用D—H方法建立打磨机操作臂的运动学方程,并讨论该操作臂的运动学问题。首次将MATLAB中的Robotics Toolbox命令与编写的MATLAB程序相结合应用于新型打磨机操作臂正运动学、逆运动学仿真,并对正、逆运动学以及空间轨迹进行了实例仿真。通过仿真观察到操作臂各个关节的运动并得到了所需的数据,说明操作臂建模以及所设计参数的合理性和运动算法的正确性,为打磨机的动力学、控制和规划的研究提供了可靠的参数。 相似文献
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参数不确定空间机械臂系统的增广自适应控制 总被引:10,自引:1,他引:9
讨论了载体位置与姿态均不受控制的漂浮基两杆空间机械臂系统的控制问题,为此对系统的运动学、动力学作了分析。结果表明 :结合系统动量守恒及动量矩守恒关系得到的系统广义Jacobi关系、以及系统的动力学方程将为系统惯性参数的非线性函数。证明了借助于增广变量法可以将增广广义Jacobi矩阵以及系统动力学方程表示为一组适当选择的惯性参数的线性函数。在此基础上,给出了系统参数未知时,空间机械臂末端抓手跟踪惯性空间期望轨迹的增广自适应控制方案。通过仿真运算,证实了方法的有效性。 相似文献
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When performing operation tasks, the interaction between a flexible manipulator and a grasped object usually results in an impact. In this paper, a new way is suggested to alleviate impact vibration of a flexible manipulator via its structural characteristic when capturing a moving object. Controllable local degrees of freedom are introduced to the topological structure of the flexible manipulator, and used as an effective tool to combat impact vibration through dynamic coupling. A corresponding method is put forward to reduce impact vibration responses of the flexible manip- ulator via the controllable local degrees of freedom. By planning motion of the controllable local degrees of freedom, appropriate control force can be constructed to increase the modal damping and stiffness and eliminate the exciting force simultaneously, thereby reducing impact vibration responses of the flexible manipulator. Simulations are conducted and results are shown to prove the presented method. 相似文献
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