Based on the characteristics of rotary symmetrical aspheric surface , tracks programming algorithm is given , the 2 - dimension removal function is reduced into 1 - dimension , finally the dwell time algorithm is presented 針對氣囊拋光加工回轉(zhuǎn)對稱非球面的特點,進行拋光路徑規(guī)劃,對去除函數(shù)進行降維處理,提出拋光駐留時間的計算方法。
The software fill the role of harmonize the whole control system , including making track programming of three fingers , harmonizing the motion of three fingers , dealing with all the errors in the whole system , displaying the errors and realizing man - machine communication 擔(dān)負(fù)著整個控制系統(tǒng)的協(xié)調(diào)任務(wù),完成了各個手指的軌跡計算、協(xié)調(diào)三手指的運動、對整個系統(tǒng)出現(xiàn)的錯誤信息進行處理、并且顯示錯誤信息、實現(xiàn)人機對話。
In the thesis , tracks programming of the cutting contact points are described in detail for the above two machining methods , including the key techniques of the determination of path interval and step length , the calculation of cutting contact point , and the interference disposal of the part boundaries and the island , which provide the foundation for the improve of the blades " machining efficiency and quality 本文詳細(xì)介紹了上述兩種加工方法中切觸點軌跡規(guī)劃問題的實現(xiàn),其過程包括走刀行距的確定、走刀步長和切觸點的確定、邊界的確定和干涉處理、島嶼干涉問題的解決等關(guān)鍵技術(shù),為提高葉片的加工效率和質(zhì)量奠定了基礎(chǔ)。
The assemblage angle and maximum step are studied , the method to calculate the maximum step of random structure paramers and random walking orientations is proposed and some formulations are deduced . the singularity and singularity workspace are analysed . based in zmp theory , the track programming is finished depending on leg position workspace 根據(jù)zmp理論,在腿位置運動空間內(nèi)作了軌跡規(guī)劃,劃分了步行周期,求出了腳圓心的軌跡,對速度和加速度作了規(guī)劃,應(yīng)用離線軌跡規(guī)劃方法,給出了離線求取桿長伸長值及速度值的算法框圖。
With the development of robot technology and wide application in so many fields , as the implementation part of the interaction of robot and its environment , the workability of multi - fingered dexterous hand has higher requirements . this dissertation analyses the present study literature of multi - fingered dexterous hand , mianly studys the optimal structural design and track programming 隨著機器人技術(shù)的發(fā)展及其在各個領(lǐng)域的廣泛應(yīng)用,作為機器人與環(huán)境相互作用的最后執(zhí)行者,多指靈巧手的工作能力被提到了新的高度。本文對多指靈巧手的研究文獻進行分析和綜述,對多指靈巧手的結(jié)構(gòu)優(yōu)化設(shè)計及軌跡規(guī)劃問題進行了研究。