Multi-objective Topology Optimization and Design for Industrial Robot

为了综合提高工业机器人的结构刚度、振动频率,降低结构质量,从而提高机器人整体的静动态性能,提出了一种基于多目标拓扑优化的机器人结构优化方法.该方法首先对机器人整机和部件进行分析,寻找机器人薄弱的零部件;然后对其进行多目标拓扑优化和模型重建,从而获得最佳的结构.将该方法成功应用于一款3kg装配、搬运等多功能机器 人的分析优化中,结果验证了该分析优化方法的可用性和有效性.In order to comprehensively improve the structure of industrial robots stiffness, vibration frequency, reduce the struc-ture mass so as to improve the static and dynamic performance quality of the robot overall, a robot structure optimization method based on multi-objective topology optimization was presented. In this method, first, the overall and its parts were analyzed, so as to find out its weak parts and weak positions of its main parts. Then the weak parts and weak positions of its main parts were multi-objective topolo-gically optimized and reconstructed, thus obtained an best structure. Finally, the method was applied to an multi-functional 3kg indus-trial robot used on assembly and handling, which verified that the method is available and effective

微细电火花深小孔加工在线优化伺服算法研究

为了提高微细电火花加工伺服控制系统的精度、实现对伺服间隙的智能控制,提出了以模糊控制算法为基础,通过自调节算法建立合适的目标值,以实现基于模糊控制的BP神经网络在线优化算法,从而提高伺服控制的准确性。同时,采用下位机实现核心控制算法,保证了伺服控制的稳定性和实时性。通过微细电火花深小孔加工实验证明,采用BP神经网络在线优化算法能提高加工精度和加工效率。国家自然科学基金资助项目(51505400);;福建省自然科学基金资助项目(2018J01083

Study on Expansion of Micro-EDM Discharge Channel

为了模拟微细电火花放电通道扩展的过程,对放电等离子体通道进行了深入研究,建立了一个适用于微细电火花放电加工的等离子体扩展模型。基于介质击穿机理和磁流体力学的相关知识,模型综合考虑了等离子体扩展过程中的粘性力、表面张力及磁场箍缩力等各个作用力,使扩展过程更接近于真实。最后,通过比较微细电火花rC单脉冲放电的模型计算直径与实际加工直径,验证了等离子体扩展模型的正确性。To simulate the process of micro-EDM discharge channel expansion,discharge plasma channel has been studied.A suitable plasma expansion model of micro-EDM has been established.Based on the dielectric breakdown mechanism and relevant knowledge of MHD,the various forces such as viscous force,surface tension and magnetic pinch force,in the process of plasma expansion has been considered,which makes the expansion process closer to the real.Finally,comparing the calculation diameter of micro-EDM RC single pulse discharge model with the actual machining diameter,the correctness of plasma expansion model is verified

The single pulse thermal effect mechanism of micro-EDM

为了解微能量单脉冲放电加工原理,文中从微细电火花单脉冲放电加工具有放电时间短,放电通道半径小,能量密度高等特点入手,从单脉冲热作用模型的放电通道半径和能量分配系数方面对当前电火花单脉冲蚀出模型进行改进。建立了时变放电通道的热作用模型,并验证了模型的正确性,提出了单脉冲热作用模型中能量分配到工件表面的百分比系数随着放电参数的变化而变化的规律,为微细电火花的广泛应用奠定基础。The single pulse micro electric discharge machining( micro-EDM) has the characteristics of short discharge time,small discharge channel radius,high energy density,etc. Considering these characteristics,the EDM single pulse erosion model is improved in plasma channel radius and energy distribution coefficient of the single pulse thermal effect model,to establish the thermal effect model of micro-EDM machining. The correctness of the model is verified by a reliable experimental method,which lays a foundation for the wide application of micro-EDM.贵州省教育厅基金项目(5392

The Design of Multi-functional Micro Electrical Machining Power Supply Based on CPLD

为了解决微能脉冲电源发展中遇到的功能单一、集成度不高等问题,设计了多功能微细电加工脉冲电源。以单片机和CPld作为微控制器,利用模块化的方法对关键模块进行设计,并运用QuArTuS软件对高频脉冲发生单元进行仿真,得到微细电火花和微细电化学的脉冲波形,通过对脉冲的切换实现了微细电火花和微细电化学的加工。In order to solve the problem such as function single,integration degree low,a multi-functional micro electrical machining pulse power supply was designed.The microcontroller based on MCU and CPLD is designed by the moduleir method,and by Quartus software,the high frequency pulse generating unit is simulated.And the pulse waveform of micro EDM and ECM is obtained.The processing of micro EDM and ECM is realized by switching the pulse

Study of the Control System of Permanent Magnet Linear Synchronous Motor

针对永磁同步直线电机,介绍了其数学模型,建立了永磁同步直线电机闭环控制系统,分析了各种控制方法在直线电机控制系统的优缺点.通过分析比较,得出永磁同步直线电机调速系统中基于饱和函数的模糊滑模控制系统具有很强的鲁棒性,可以有效地削弱抖振,系统动静态性能良好.This article in view of the permanent magnet linear synchronous motor,introduced the mathematical model,established the linear motor closed-loop control system,analyzed the advantages and disadvantages of a variety of control methods in the linear motor control system,through the analysis and comparison.We know that the fuzzy sliding mode speed control system of the permanent magnet synchronous linear motor based on the saturation function has a strong robustness,effectively weakening the chattering,good dynamic and static performance.福建省科技计划重大项目(2012H6023

Micro-EDM milling with tube electrode

【中文摘要】 提出了采用对轴向损耗不敏感的微细管电极进行微细电火花分层铣削的加工方法,并对管电极在加工过程中的损耗特性进行了理论分析。在此基础上,分别采用铜管电极和实心电极进行了微细电火花铣削加工实验。结果表明:采用中空结构的管电极不仅减小了铣削过程中电极端部的损耗半径,提高了加工精度,而且简化了微细电火花铣削的分层策略和电极损耗补偿策略。 【英文摘要】 The axial wear-loss insensitive tube electrodes was applied to substitute solid electrodes during micro-EDM milling process,and the tube electrode wear-loss characteristics during this processing was analyzed.The comparative experiments using both copper tube electrodes and solid electrodes were carried out on the convention micro-EDM milling system.Results indicate that tube electrode reduces wear-loss radius of the electrode end,improves machining accuracy,and simplifies the compensation method in micro-E...国家自然科学基金重点项目(50835002

Contribution of NSFC in promoting the interdisciplinary subject of Xiamen University:a Summary of engineering and material subject

国家自然科学基金(以下简称科学基金)作为我国支持基础研究的主渠道之一,面向全国,重点资助具有良好研究条件、研究实力的高等院校和科研机构中的研究人员[1]。科学基金自成立以来秉承"支持基础研究、坚持自由探索、发挥导向作用"的战略定位,实施源头创新战略、科技人才战略、创新环