欢迎您！东篱公司
退出
-
申报数据库
-
立项数据库
-
成果数据库
-
项目获奖数据库
中文摘要：
巨型重载操作机是极限制造装备技术的重要体现,为了降低操作机的控制难度,研究3种常见锻造操作机主运动机构的解耦性问题。建立3种锻造操作机的运动学模型,并求解机构的速度输入—输出关系矩阵,发现在传统的输出参数定义下,3种操作机的输入始终处于耦合状态。根据实际工作状态重新定义输出参数,在此基础上提出一个新的解耦定义方法。分别单独求解每个动作下的速度的输入—输出关系矩阵,并且利用Matlab仿真验证,发现其中一种操作机的主运动机构是完全解耦的,而另外两种操作机属于部分解耦。从锻造操作机主运动机构的解耦过程来看,重新定义输出是一种直观的解耦方法,该方法为并联机构的解耦提供一种新思路。
英文摘要：
Heavy-duty forging manipulators play an important role in the extreme manufacturing. Decoupling performance of major-motion mechanism for three commonly used forging manipulators is studied to simplify the control of manipulators. The kinematics of the forging manipulators are analyzed,and the input-output relationship matrix in terms of velocity shows that all the three types of forging manipulators are coupled according to the definition of conventional output parameters. A new decoupling concept is established,which redefines the output based on the realistic working condition. The input-output relationships are considered independently for each main motion,and the process is simulated in Matlab to validate the results. The major-motion mechanism of one forging manipulator is decoupled,while the other two are partially decoupled. From the viewpoint of decoupling of the main-motion mechanism of forging manipulators,the proposed method is intuitive,which provides a new idea for the decoupling of parallel mechanisms.
同期刊论文项目
同项目期刊论文
A neuroendocrine-immune system inspired bio-network architecture and its simulation platform for com
Enhanced interactive satisfying optimization approach to multiple objective optimization with preemp
Performance monitoring and diagnosis of multivariable model predictive control using statistical ana
Steady-state target calculation for constrained predictive control systems based on goal programming
The design of predictive control with characterized set of initial condition for constrained switche
Satisfying optimization method based on goal programming for fuzzy multiple objective optimization p
Robust adaptive terminal sliding mode-based synchronised position control for multiple motion axes s
An interactive satisficing method based on alternative tolerance for fuzzy multiple objective optimi
Two-step interactive satisfactory method for fuzzy multiple objective optimization with preemptive p
Intelligent decoupling control system inspired from modulation of the growth hormone in neuroendocri
期刊信息
位置：