基于组态控制的机械手试验系统

本文结合机械手的PLC控制,设计一个基于组态控制的机械手试验系统.该系统用组态软件MCGS为开发平台,利用动画配合实物协同运动,给出直观的机械手运动展示和动态模拟.实验系统能脱机进行机械手仿真模拟控制,以其形象直观的特点降低了学习难度,提高了实验效率.     

驱动轮轴助力机械手设计研究

本文对机械手的功能及各部位进行了介绍,分析机械手的组成及运动方式,介绍机械手手爪及臂部及腰部和支架的设计计算,以期为机械手的生产厂家进行设计及用户的使用提供参考.     

浅谈工业机械手

机械手首先是从美国开始研制的.工业机械手是近几十年发展起来的一种高科技自动化生产设备.工业机械手是工业机器人的一个重要分支.它的特点是可通过编程来完成各种预期的作业任务,在构造和性能上兼有人和机器各自的优点,尤其体现了人的智能和适应性.机械手作业的准确性和各种环境中完成作业的能力,在国民经济各领域有着广阔的发展前景.     

基于西门子MAP库的桁架机械手监控系统设计

以数字化柔性制造生产线中的桁架机械手为控制对象,基于S7-200PLC和组态王软件设计了机械手监控系统.采用MAP库函数控制桁架机械手x轴、z轴的伺服运动,从而实现物料加工搬运的精确定位.运行结果表明,桁架机械手运行准确可靠,可以实现参数设置及系统运行状态的实时、动态监控,达到了设计要求.     

绳驱动式欠驱动机械手稳定抓取构型分析（英文）

对一种新型绳索驱动式机械手进行了稳定抓取位形研究.该机械手具有欠驱动特点,采用绳轮传动系统和平行四连杆机构实现抓取功能.介绍了欠驱动机械手构型设计和抓取运动策略,建立了圆形物体包络抓取模型,推导出绳驱动力与指节抓取力的关系方程并分析了稳定抓取成立的条件.采用插值和迭代计算的方法,分析了绳轮式欠驱动机械手抓取圆形目标体时的稳定抓取位形. ADAMS准静力学仿真分析验证了指节抓取力分布的正确性,也验证了所提分析方法的可行性和有效性.欠驱动机械手指节接触力分布与被抓取物体位置关系表明绳驱动式欠驱动机械手具有3种稳定抓取位形.     

基于RBF神经网络逆系统的机械手轨迹跟踪控制

目的:针对机械手系统的高度耦合、非线性等动力学特性,系统结构和参数在实际工作中存在诸多不可预知因素,研究机械手的轨迹跟踪问题.方法:利用神经网络来构建机械手的逆系统模型,将其与被控对象串联构成伪线性系统,从而将非线性问题转化为线性问题,实现了机械手的在线建模、解耦控制.结果:仿真实验结果表明,迅速的跟踪给定的期望轨迹,脉冲干扰并未系统带来明显影响.结论:方案对控制系统有较强的适应性、稳定性以及抗干扰性能,有效地解决了机械手的轨迹跟踪问题.     

仿人手形机构臂的程序设计

本文从原理、实现方法、程序应用等几方面介绍了六自由度机械手.六自由度机械手作为一种机电一体平台,该机器手可以实现在空间任一点(小于机械手的回转半径范围)实现对一定重量的物体抓举的功能.其具有很强的扩展性,可以根据需要适时修改程序以实现各种需要的功能.     

机械手执行机构之探析

机械手在科技高速发展的时代占有举足轻重的地位,是现代生产、生活中不可或缺的一个重要组成部分.机械手可通过编程来完成各种预期的作业任务,在构造和性能上兼有人和机器各自的优点,尤其体现了人的智能性和适应性.执行机构是机械手的重要组成部分之一,了解它的构成和原理对设计工作者尤为重要.     

基于PC控制的智能机械手控制系统

在现在生产过程中,许多生产环境和工艺都要求机械手应具有无线控制和准确定位的能力以满足生产.为此我们研究和开发了基于单片机为核心的下位机底层控制系统和用VB开发的上位机(PC机)软件,两者之间的数据传送是利用以NRF9E5为核心的传输模块来实现.同时设计了直流电机定位系统以解决机械手的定位问题,提高了机械手的可靠性、智能性和控制精度.     

医院自动取药机器人与样机制作

医院自动取药机器人样机是一种新型的自助取药模式.自助取药机械手作为执行部件,具有根据信息识别药物位置及种类,根据信号提取一定数量的药物的功能,系统利用滑台运输药物到控制台是安全传输的关键.应用蓝牙无线传输技术进行远程控制,并通过舵机控制整个机械手的工作速度,验证了机械手设计的合理性,完成自动取药机器人样机的制作.最后,通过实验证明了该方法精度高、稳定性好,目前将该方法成功运用于自动取药机械手设计中.     

卡思卡特城堡

It is worthy of noting that, whilst Crookston Castle witnessed the earlier and happier portion of Mary's variegated life,     

不同的吃喝玩乐

一、吃和喝吃苹果 eat an apple, 吃药 take medicine,吃糖 have some sweets,吃饭 have one's meals,吃馆子 dine out,吃惊 be surprised/     

漏洞百出的教育

Many college freshmen arrive woefully unprepared to do college work, and as disadvantaged populations continue to grow, the share of the American work force that has made it through college is expected to plummet. Many experts blame that educational failure not just on high schools but also on colleges. School & College, a special report by The Chronicle, looks at efforts to fix the system. What reforms would better prepare students for college? What should schools and colleges be doing differently? How should state and federal officials help?     

只要努力,不要后悔

There are numbers of crossroads on our long and unpredictable life journey where we totally have no idea about which direction to choose. No matter what our decision is, we should not turn back, but face the music and go ahead instead. I am this kind of girl who always does try without regretting, one example is how I dealt with my love.     

浅谈移民问题

Migration occurs behind a variety of reasons and has a great effect on the whole world. People may migrate in order to improve their economic situation, or in order to escape civil strife, persecution, and environmental disasters. The impact of migration is complex, bringing both benefits anddisadvantages. This paper briefly talks about the causes of migration, the allocation of benefits, and the ways in which individual countries and the international community deal with this important subject.     

Sister Carrie, an Adherent of Desires

Sister Carrie is one of the most controversial characters in American literature.Thought as a "fallen woman" firstly,she was defined as a "new woman" by some critics later. However, by digging into the motivaton behind the whole process of Carrie's "success", the relationship between Carrie and her creator (the author), the social conditions of then American, it can be found that Carrie has never been free-standing on her thought and she has never found her real-sdf even after becoming a famous actress. In a society dominated by mass consumerism Carrie is only an adherent of her own desires. She also is a representative of all those country girls flooded into cities, a symbol and a sacrifice of the urbanization of America in a time countryside was overcome by cities.     

Improvement of one-cycle controller by use of proportional integral differential controller

1.IntroductionOne-cyclecontrolmethod,whichwasproposedaboutonedecadeago[1],hasbecomeanattractivemethodinspecialfieldssuchaspowerfactorcorrection[2-6],switchingamplifiers[7,8],etc.Themainideaofthiscontrollerisbasedonintegrationofdiodevoltageinone-cycleandforcesittobeexactlyequaltothereferencevalue.Themainadvantageofthiscontrollerisitsrealtimeabilitytorejectthevariationofinputvoltage[1].Despitethisgreatability,ithasnogoodperformancesinrejectingofloaddisturbanceandfollowingreferencecommands.Espec…     

库克斯顿城堡

城堡, 是欧洲典型的建筑之一, 每个城堡都有一个美丽的传说或是一段历史。从本期开始, 我们将推出“城堡之旅”, 带各位读者去浏览、观赏欧洲各地的城堡, 开始一段文化与历史的旅途!     

The Reader Response Approach to Teaching of English Literature

During interview with English majors, it was found that a majority of students expressed disappointment with their experience of English literature classes. Students' dislike of learning English literature appears to be the major problem of teaching English literature in China. Reader response approach is a good way to solve this problem. In this paper, I explain the rationale behind the reader response approach, such as its origin, definition, features, assumptions, and strategies. Then I illustrate how reader response approach works as a teaching strategy by presenting several teaching models. At last I evaluate its usefuiness for teachers and present the advantages of reader response approach in Chinese context.