浴室瓷砖除水器设计-浴室墙壁地板除水器的设计（全套含CAD图纸）
收藏
资源目录
压缩包内文档预览：(预览前20页/共30页)
编号：8969268
类型：共享资源
大小：3.57MB
格式：ZIP
上传时间：2018-02-24
上传人：机****料
认证信息
个人认证
高**（实名认证）
河南
IP属地：河南
120
积分
- 关 键 词：
-
浴室
瓷砖
除了
设计
墙壁
地板
全套
cad
图纸
- 资源描述：
-
- 内容简介：
-
131CLOSEDLOOPSENSORSYSTEMFORAUTOMATEDMANUFACTURINGMACHINESAASHAIK1,GBRIGHT2ANDWLXU31COUNCILFORSCIENTIFICANDINDUSTRIALRESEARCH,MATERIALSCIENCEANDMANUFACTURING,SOUTHAFRICA,ASHAIKCSIRCOZA2UNIVERSITYOFKWAZULUNATAL,SCHOOLOFMECHANICALENGINEERING,SOUTHAFRICA,BRIGHTGUKZNACZA3MASSEYUNIVERSITY,INSTITUTEOFTECHNOLOGYANDENGINEERING,NEWZEALAND,WLXUMASEYACNZABSTRACTMANYAUTOMATEDMULTIAXISMACHINESOPERATEUNDEROPENLOOPCONTROLTHEEXACTPOSITIONINSPACEOFTHEENDEFFECTERORTOOLHEADISNOTSENSEDDIRECTLYTHESOFTWARECONTROLLINGTHEROBOTSORAUTOMATEDMANUFACTURINGMACHINESMAKEACALCULATEDESTIMATEOFWHERETHETOOLHEADSHOULDBETHISISOFTENACHIEVEDBYMONITORINGSENSORSONAXESTHATTRACKLINEARTRANSLATIONANDROTATIONSOFSHAFTSORGEARSFORLOWPRECISIONAPPLICATIONSTHISSYSTEMISAPPROPRIATEHOWEVER,POSITIONALERRORSOFTENOCCURTHISMETHODMAYNOTBESUITABLEFORHIGHPRECISIONROBOTSANDAUTOMATEDMACHINETOOLSTHEREEXISTSANEEDFORASENSORSYSTEMTHATISCAPABLEOFACQUIRINGTHEEXACTSPATIALCOORDINATESOFTHETOOLPOINTORENDEFFECTORDIRECTLYTHEAIMOFTHISRESEARCHPROJECTWASTODESIGNALOWCOSTSENSORSYSTEMTHATWOULDPRECISELYLOCATETHETOOLPOINTSSPATIALCOORDINATESDIRECTLYBYCLOSEDLOOPCONTROLTHISAIDEDINTHEREDUCTIONOFERRORSENCOUNTEREDINOPENLOOPCONTROLTHESYSTEMWASCAPABLEOFSEAMLESSINTEGRATIONWITHEXISTINGTECHNIQUESFORMOTIONCONTROLTHESENSORSYSTEMWASABLETOLOCATETHETOOLHEADIN2DSPACEWITHSIMPLEADDITIONSANDMODIFICATIONSITRENDEREDITSELFAPPLICABLETO3DSPACELOCATIONOFTHETOOLHEADITWASMODULAR,SUFFICIENTLYROBUSTANDERRORIMMUNESUCHTHATITWOULDWORKINALMOSTANYENVIRONMENTKEYWORDSAUTOMATION,MANUFACTURING,CLOSEDLOOPCONTROL1INTRODUCTIONTHENEEDFORASENSORSYSTEMTHATPROVIDESDIRECTFEEDBACKOFTHEENDEFFECTORSSPATIALCOORDINATESISESSENTIALFORPRECISEASSEMBLYANDMACHININGTHEOBJECTIVEOFTHISRESEARCHPROJECTWASTODESIGNAPARALLELROBOTTHATWOULDHAVEANINTEGRATEDSENSORSYSTEMTHESENSORSYSTEMSHOULDBELOWCOSTANDBECAPABLEOFLOCATINGTHETOOLPOINTSSPATIALCOORDINATESDIRECTLYORAIDINREDUCINGTHEERRORSENCOUNTEREDINTHEOPENLOOPCONTROLTHESYSTEMSHOULDBECAPABLEOFSEAMLESSINTEGRATIONWITHEXISTINGTECHNIQUESFORMOTIONCONTROLANDSHOULDBEABLETOLOCATETHETOOLHEADIN2DSPACEWITHSIMPLEMODIFICATIONSITSHOULDRENDERITSELFAPPLICABLETOLOCATIONIN3DSPACEITSHOULDBEMODULAR,SUFFICIENTLYROBUSTANDERRORIMMUNETOWORKINALMOSTANYENVIRONMENTTHEREARENUMEROUSTECHNOLOGIESAVAILABLEFORTHEPURPOSEOFLOCATINGOBJECTSINSPACETHESEARETHEGLOBALPOSITIONINGSYSTEMGPSWITH10MACCURACY,ADIFFERENTIALGPSSOLUTIONBY1REDUCESTHEERRORSTOLESSTHAN5CMPROXIMITYLOCATIONTHROUGHBLUETOOTH,WIFIANDCELLULARNETWORKSPOSITIONISDEDUCEDBYKNOWINGTHECELLWITHWHICHADEVICEISCOMMUNICATINGANDTRIANGULATIONSYSTEMSUSINGLASERS,ULTRASOUND,ETCINADDITIONTHEREAREIMAGINGMETHODSUSEDTODETERMINEPOSITION2DISCUSSESALOWCOSTSOLUTIONEMPLOYINGACAMERAANDLCDLIQUIDCRYSTALDISPLAYSCREENTOLOCATEANOBJECTSCOORDINATESIN2DWITHHIGHACCURACYVSLAMVISUALSIMULTANEOUSLOCATIONANDMAPPINGSYSTEMSUSEDINMOBILEROBOTICSUSECAMERASTOBUILDAMAPOFITSSURROUNDINGSFORNAVIGATIONPURPOSESTHEREAREALSOIMAGEPROCESSINGTECHNIQUESTHATCANDETERMINEMOVEMENTFROMCONSECUTIVEFRAMESPROVIDEDBYACAMERATHESEIMAGESALSOPROVIDEINFORMATIONREGARDINGTHESURROUNDINGSANDARECOMPLETELYPASSIVETHEACCURACYANDRESOLUTIONHOWEVERDEPENDONHOWFARFROMTHEOBJECTTHECAMERAISANDTHERESOLUTIONOFTHECAMERAITSELFALLTHESETECHNOLOGIESARESUITABLEFORLOCATINGLARGEOBJECTSINARELATIVELYLARGESPACE,FORINSTANCELOCATINGPEOPLEINBUILDINGS3ININDUSTRY,HOWEVER,ROBOTICARMSUSEDFORASSEMBLY,WELDINGORSPRAYPAINTINGMOVEINACONFINEDSPACEANDTHEPOSITIONOFTHEENDEFFECTORMUSTBEDETERMINEDWITHMILLIMETERTOSUBMILLIMETERRESOLUTIONFORMANUFACTURINGPURPOSESTHERESOLUTIONOFCOMPUTERNUMERICALLYCONTROLLEDCNCMACHINESRANGEFROMMICROMETERSTONANOMETERSFORSUCHPURPOSESLASERINTERFEROMETERTECHNOLOGIESARESOMETIMESUSEDTHESEPOSITIONSENSINGSYSTEMSHAVEEXCELLENTRESOLUTIONASWELLASACCURACYANDAREUSEDINMANUFACTURINGENVIRONMENTSFORICINTEGRATEDCIRCUITDESIGN,PROTOTYPINGANDMANUFACTURINGANOPTICALHETERODYNEINTERFEROMETERDESIGNEDATNASASJETPROPULSIONLABORATORYCANMEASURELINEARDISPLACEMENTSWITHANERROROF20PMPICOMETERS,1012MGRIDENCODERSOFFERANOTHERSOLUTIONGRIDSMADEBYOPTRAHAVEACOVERAGERANGEUPTO380MM380MMTHEIRACCURACYANDREPEATABILITYLIEINTHESAMERANGEASLASERINTERFEROMETERSIEMICROTONANOMETERRESOLUTIONBOTHGRIDENCODERSANDLASERINTERFEROMETERSAREEXPENSIVETECHNOLOGIES,USUALLYCOSTINGHUNDREDSOFTHOUSANDSTOMILLIONSOFDOLLARSFURTHERMORE,THEYCANNOTMEASUREABSOLUTEPOSITIONDIRECTLYTHEYBOTHUSEFRINGEPATTERNSDUETOLIGHTWAVEINTERFERENCETOMEASURERELATIVEDISPLACEMENTTHEINTEGRATIONOFTHESEDISPLACEMENTMEASUREMENTSCOUPLEDWITHTHEKNOWLEDGEOFTHEENDEFFECTORSINITIALPOSITIONYIELDSTHECURRENTPOSITION308AASHAIK,GBRIGHTANDWLXU2PROPOSEDSENSORFEEDBACKSYSTEMTHEPROBLEMOFLOCATINGTHEENDEFFECTOROFAROBOTINREALWORLDSPACEISFIRSTREDUCEDTOFINDINGITSPOSITIONINA2DPLANEWITHREGARDTOAPOINTREFERENCETHEGENERALPROBLEMOFLOCATIONIN3DSPACEISSOLVEDBYATTACHINGTWO2DPLANESATRIGHTANGLESWITHSUCHANARRANGEMENT2AXESCOINCIDEANDIFTHEREFERENCEPOINTOFEACHPLANECOINCIDES,THERESULTISA3AXISSENSORSYSTEMFORPOSITIONLOCATIONTHISPAPERATTEMPTSTODOCUMENTASOLUTIONOFFINDINGTHEENDEFFECTORINA2DPLANEAFTERCONSIDERATIONOFTHEAVAILABLEPHYSICALQUANTITIESULTRASOUND,INFRAREDLIGHT,RADIOWAVES,ETCUSEDWHENLOCATINGOBJECTS,ITWASDECIDEDTHATALASERWOULDBEMOSTSUITABLEFORTHEREASONSTHATFOLLOWALASERLIGHTSENSORCANBECONDITIONEDTOPROVIDEADIGITALOUTPUTCOMPARATIVELYANALOGUESENSORSREQUIREDIGITIZATIONFORUSEINDIGITALSYSTEMSANALOGUESIGNALSARECOMPROMISEDBYATMOSPHERICEFFECTS,TEMPERATURE,HUMIDITYANDUNSHIELDEDNOISEFROMSURROUNDINGMACHINERYTRIANGULATIONUTILIZINGRADIO,ULTRASOUNDORINFRAREDWAVESISNOTSUITABLEASMULTIPLEREFLECTIONSFROMSURROUNDINGSURFACESCAUSEINTERFERENCEANDPROVIDEUNRELIABLERESULTSTHEYALSOREQUIREMODULATIONANDDEMODULATIONTODISTINGUISHTHESIGNALSGENERATEDFROMANYTHATCANBECREATEDBYTHEENVIRONMENTTHEPROPOSEDSENSORCONCEPTUTILIZESADIRECTAPPROACH,WITHALASERATTACHEDTOTHEENDEFFECTORANDASENSORGRIDAGRIDOFLASERSENSORSEQUALLYSPACEDINROWSANDCOLUMNSMOUNTEDDIRECTLYABOVEITTHISISANATURALCHOICEASTHECOHERENTNATUREOFLASERLIGHTMAKESFINDINGTHEENDEFFECTORIN2DSPACEEASYIFTHELASERBEAMREMAINSPERPENDICULARTOTHESENSORPLANEATALLTIMESTHEENDEFFECTORSLOCATIONISTHESAMEASTHESENSORWHICHISSTIMULATEDINA2DPLANE,DEPTHHASNOMEANINGTHISPERPENDICULARCONSTRAINTCANBEENFORCEDBYTHEUSEOFTILTSENSORSTHATCANTELLTHEORIENTATIONOFANOBJECT,CORRECTIONSCANTHENBEMADETOKEEPTHEENDEFFECTORPERPENDICULARALSOTHEINHERENTNATUREOFTHEROBOTCANBESUFFICIENTTOFORCETHISCONDITIONTHEFLEXPICKERISONESUCHEXAMPLEASITSARMSFORCETHEENDEFFECTORTOREMAINPARALLELTOITSBASEATALLTIMESITMUSTBESTRESSEDTHATTHISSENSORSYSTEMREQUIRESONLYBIT1OR0INFORMATIONFOREACHSENSOREACHSENSORISEITHERSTIMULATEDORNOTSTIMULATEDTHISMAKESDATAPROCESSINGANDTRANSFERFARSIMPLERANDMAKESCONTROLEASIERTHERESOLUTIONISLIMITEDTOTHESPACINGBETWEENSENSORSIFTHESPOTLIGHTISSMALLERTHANTHESPACINGBETWEENSENSORS,THESEWILLREPRESENTADEADZONEWHEREBEAMTRACKINGWILLBELOSTCOMPLETELYTHELASERLIGHTDETECTORSAREPHOTOTRANSISTORSWITHADARLINGTONCONFIGURATIONCURRENTFABRICATIONTECHNIQUESCANACCOMMODATEMILLIONSOFTRANSISTORSONASLIVEROFSILICONTHESEFABRICATIONMETHODSCANBEUSEDTOCONSTRUCTADETECTORSCREENWITHANEXCEPTIONALANDPRACTICALRESOLUTIONRESOLUTIONAFFECTSDATAOUTPUT,AGREATERRESOLUTIONIMPLIESMOREDATAPERUNITAREAMORESENSORSAHYBRIDTYPESYSTEMWOULDINVOLVEASENSORGRIDWITHACOMPARATIVELYLOWERRESOLUTIONEACHSENSORPROVIDESACHECKPOINTKNOWINGTHEEXACTSPATIALDISTANCEBETWEENTHESEDETECTORSPROVIDESTHECONTROLLERAMEANSTOLIMITTHEERRORSINCURREDINSTEADOFACCUMULATINGERRORSFROMONEEXTREMITYTOTHENEXT,ERRORSONLYEXISTBETWEENSUCCESSIVEDETECTORSFIGURE11BLOCKDIAGRAMOFINTENDEDSENSORSYSTEM3MECHATRONICDESIGNTHEMECHATRONICDESIGNCONSISTSOF3PARTSTHEMECHANICAL,ELECTRONICANDSOFTWARECOMPONENTSASSTATEDIN4,THETERMMECHATRONICSISUSEDFORTHEINTEGRATIONOFMICROPROCESSORCONTROLSYSTEMS,ELECTRICALSYSTEMSANDMECHANICALSYSTEMSTHEMECHANICALSTRUCTUREWASDESIGNEDTOTESTTHEELECTRONICHARDWAREANDSOFTWARECONTROL,THEPURPOSEOFWHICHISTOVALIDATETHEPROPOSITIONTHEMECHANICALDESIGNWASALSOUNDERTAKENTOEXPLOREPARALLELMECHANISMSTHEDESIGNISDOCUMENTEDTODELIVERASIMPLEPROTOTYPETHESPECIFICATIONONRESOLUTIONWASRELAXEDASITWASSTATEDTHATFABRICATIONTECHNIQUESCANPRODUCEASCREENWITHAREALISTICRESOLUTIONMOREEMPHASISWASPLACEDONCREATINGACHEAPSYSTEMTHATCOULDREDUCEERRORSMECHANICALSTRUCTURETHEMECHANICALSTRUCTUREISBASEDONAFLEXPICKERPICKANDPLACEPARALLELKINEMATICSINDUSTRIALROBOTITISASCALEDADAPTATIONTHEDESIGNCONSISTSOF4ARTICULATEDARMS4SERVOMOTORSAPLATEENDEFFECTORWITHATTACHEDLASERBALLCUPJOINTSANDAMOUNTINGFRAMETHEENTIREMECHANICALSTRUCTUREIS600MMINLENGTH,400MMWIDEAND500MMHIGHFIGURES12AND13ILLUSTRATETHEPARTSANDTHEASSEMBLYFIGURE12SIGNIFICANTMECHANICALPARTSTHATPOSITIONTHELASERABALLFROMBEARING,BCUPFROMMODIFIEDBEARINGSOCKET,CSERVOMOTORWITHUPPERARMATTACHEDANDMOUNTINGBRACKET,DLOWERARMCOMPONENT,ELASERANDLASERMOUNTINGITMUSTBENOTEDTHATTHELOWERARMCOMPONENTSAREHELDTOGETHERVIA2SPRINGSNOTSHOWN,ONEJUSTBELOWTHEELBOWANDTHEOTHERJUSTABOVETHEWRISTFOREACHCLOSEDLOOPSENSORSYSTEMFORAUTOMATEDMANUFACTURINGMACHINES309FOREARMTHEBALLCUPJOINTSGIVEALARGEDEGREEOFFREEDOMTHESEWEREMADEFROMBALLINSOCKETBEARINGSTHEUPPERARMSSWINGFROMSIDETOSIDEWHEREASTHELOWERARMSCANMOVEUP,DOWN,LEFTANDRIGHTANDCANEVENROTATEABOUTTHEELBOWBYSEQUENCINGPAIRSOFITSBASICMOTIONINDUCEDBYROTATINGPAIRSOFSERVOSTHELASERCANMOVEABOUTASECTIONOFSPACE,WHICHISROUGHLYAHEMISPHEREBELOWTHESENSITIVITYAREATHESQUARECUTOUTONTHESERVOMOUNTINGFRAME,FIGURE13ATHEGUIDELINESFORPARALLELMECHANISMDESIGNWEREFOLLOWEDASPROVIDEDIN5FIGURE13ASSEMBLYOFALLCOMPONENTSRESULTINGINTHEFINALSTRUCTUREAALLSERVOSMOUNTEDWITHUPPERARMANDLOWERARMATTACHEDTOLASER,BLOWERARMATTACHMENTTOLASERENDEFFECTOR,CARTICULATEDARMELBOWJOINT,DCOMPLETEASSEMBLYELECTRONICHARDWARETHESYSTEMDESIGNEDISAHYBRIDTYPEASMENTIONEDINSECTION12THERESOLUTIONISLOWDUETOTHE5MMDIAMETEROFTHELEDTYPEPACKAGEOFTHELASERSENSORALSOTHEPCBTRACKSROUTINGSENSORSTOBUFFERSANDDATACONVERTERSOCCUPYSIGNIFICANTSPACE,WHICHCOULDNOTBEAVOIDEDTOIMPROVERESOLUTIONASMALLERPACKAGESHOULDBEUSED,PREFERABLYSURFACEMOUNT,HOWEVERTHESECOULDNOTBESOURCEDATTHETIMETHISSCREENWASMADEEACHSENSORGRIDCONSISTSOF64BP103PHOTOTRANSISTORSARRANGEDONAN8X8GRIDTHERESOLUTIONDISTANCEBETWEENTHECENTRESOF2SUCCESSIVESENSORSIS18MMONBOTHTHEROWSANDCOLUMNSTHISPHOTOTRANSISTORHASADAYLIGHTFILTERTOPREVENTWRONGFULSTIMULATIONBYAMBIENTLIGHTITISSENSITIVETOLIGHTWAVELENGTHSINTHERANGE600900NMA650NMKEYRINGLASERISBEINGUSEDASASENSORSTIMULANTTHISISACHEAPANDEFFECTIVESOLUTIONALTHOUGHTHEOUTPUTPOWEROFTHISLASERISLESSTHAN1MW,ITISSUFFICIENTTOTURNTHEPHOTOTRANSISTORONTHESENSEDSIGNALHASTOBEBUFFERED/AMPLIFIEDTOENSURETHATTHEVOLTAGELEVELOUTPUTFROMTHELPT133ISWITHINTHEPROPERDIGITALRANGE008VFORALOGIC0AND355VFORALOGIC1,ACCORDINGTO6FORPROPERELECTRONICDESIGNFORTHISPURPOSEEACHSENSORONACOLUMNISPASSEDTOATRANSISTORDRIVERWITHINAULN2803,WHICHCONSISTSOF8TRANSISTORDRIVERSEIGHTDRIVERCHIPSAREUSED,ONEFOREACHCOLUMNTHEOUTPUTSFROMEACHULN2803AREFEDTOAPARALLELTOSERIALDATACONVERTER,THE74LS166TOSERIALIZETHEDATAFORTRANSFERTOAPCTHE8OUTPUTSERIALLINESFROMTHEDATACONVERTERSAREFEDTOANATMELATMEGA8515MICROCONTROLLERTHEREAREEIGHTBYTESOFDATAANDEACHBITREPRESENTSONESENSORSCURRENTSTATETHECONTROLLERISUSEDTOTRANSFERTHE8BYTESOFDATATOTHEPCVIAITSUSARTTRANSCEIVERANDTHEPCSRS232SERIALPORTITALSOCONTROLSTHE74LS166DATACONVERTERSANDTHESERVOMOTORSTHEMICROCONTROLLERENABLESTHEDATACONVERTERSANDCLOCKSTHEDATAOUTOFEACHOFTHEMSOFTWARETHESOFTWAREHASTWOPARTSTOIT,IETHEMICROCONTROLLERCODEANDTHEUSERINTERFACEMICROCONTROLLERCODETHEREARE4PARTSTOTHEMICROCONTROLLERCODE,IERECEIVINGANDINTERPRETINGCOMMANDSFROMTHEPCSENSORDATAACQUISITIONDATATRANSFERANDSERVOROTATIONRECEIVINGANDINTERPRETINGCOMMANDSTHEREARECOMMANDSFORACTIVATION,SENSORDATAACQUISITION,DATATRANSFERANDSERVOROTATIONTHESETELLTHECONTROLLERWHENTORUNTHECORRESPONDINGROUTINESSENSORDATAACQUISITIONTHISROUTINEENABLES/DISABLESCLEARSANDCLOCKSTHEDATAOUTTHEPARALLELTOSERIALCONVERTERSSEE7FORACOMPLETEDESCRIPTIONOFHOWTHISISACHIEVEDDATATRANSFERONCETHESENSORDATAACQUISITIONROUTINECOMPLETES,THE8BYTESOFDATAAWAITTRANSFERTHESERIALPORTOFTHEPCWORKSWITHTHEASCIICHARACTERSETEACHDATABYTEREPRESENTINGANUMBERINTHERANGE0255MUSTBESENTOUTTHEMICROCONTROLLERSSERIALPORTVIA3ASCIICHARACTERSONECHARACTERFOREACHOFTHEHUNDREDS,TENSANDUNITSDIGITSREPRESENTINGNUMBERS09WHICHINASCIIIS0X300X39INHEXADECIMALNOTATIONINTOTALTHEREARE32CHARACTERBYTES4CHARACTERBYTESPERDATABYTE,INCLUDINGBYTECOMPLETIONCHARACTERTRANSFERREDFROMCONTROLLERTOPCUSINGABAUDRATEOF9600BITSPERSECONDANDINCLUDINGAPARITYCHECKBIT9BITSPERBYTETHISTAKES003STOCOMPLETESERVOROTATIONASTHEREARE4SERVOMOTORS,4PULSEWIDTHMODULATEDSIGNALSHAVETOBEGENERATEDINCOMINGCOMMANDSINDICATEAPARTICULARSERVOANDTHELENGTHOFITSPULSEWIDTHTHEPULSEWIDTHVALUEWILLBERECEIVEDIN3BYTESINTOTALTHEREARE16CHARACTERBYTESTRANSFERREDFROMPCTOCONTROLLER4BYTESPERSERVOTOPOSITIONTHELASERASREQUIREDTHETIMETAKENTODOTHISIS0015S9600BAUDTIMERSWITHINTHECONTROLLERWILLENSURETHATTHEPWMSIGNALSCOMPLYWITHTHEDESIREDRANGEOF12MSUSERINTERFACETHEUSERINTERFACEPROVIDESAVISUALDISPLAYOFTHEDATARECEIVED,64COLOREDCIRCLESREPRESENTTHE64PHOTOTRANSISTORSTHEDISPLAYROUTINESEARCHESTHROUGHEACHDATABYTECOLUMNSFORLOWBITSROWSANDCHANGESTHECOLOROFTHECORRESPONDINGCIRCLEBLUEWHENNOTSTIMULATED,REDWHENSTIMULATEDTHEINTERFACEALSOALLOWSTHEUSER2OPTIONSFORCONTROLEITHERVIAAMOUSEORASELECTIONGRIDWITHTHEMOUSETHEUSERCANMANUALLYCONTROLTHELASERANDMOVEITANYWHEREWITHINITSMECHANICALCONSTRAINTSWHENTHESELECTIONGRIDISACTIVETHELASERWILLPOSITIONITSELF,FIRSTFINDINGAREFERENCEPOINTANDTHENMOVEALONGROWSANDCOLUMNSITWILLPASSOVERALLSENSORSWHICHHAVEBEENSELECTEDBYTHEUSER310AASHAIK,GBRIGHTANDWLXUCONTROLDESIGNOVERVIEWTHESENSORGRIDPROVIDESDIRECTFEEDBACKOFTHEPOSITIONOFTHELASER/TOOLHEADATDISCRETEPOINTSINSPACETHEPURPOSEOFTHEGRIDISTORESETACCUMULATEDERRORSINTHEPOSITIONINGCONTROLSYSTEMTHECOORDINATESOFTHESENSORSARESTOREDINTHECONTROLLINGSOFTWAREWHENERRORSAREACCUMULATEDANDNEEDTOBERESETTHEENDEFFECTORISMOVEDTOSENSORTHATISCLOSESTTOTHEENDEFFECTORONCEITISPOSITIONEDANDTHESENSORISNOTSTIMULATEDITKNOWSTHATTHEREAREERRORSINITSPOSITIONINGANDITTHENSPIRALSOUTTOLOCATETHESENSORANDRESETTHEERROR4PERFORMANCE/OPERATIONTHENOVELTYOFTHISSENSORSYSTEMLIESWITHTHEFACTTHATITCANDETERMINETHEPOSITIONOFTHEENDEFFECTORDIRECTLY,PROVIDEDTHATTHECONSTRAINTSMENTIONEDARESTRICTLYADHEREDTOITDOESNOTDETERMINEPOSITIONFROMCALCULATIONASINLASERTRIANGULATIONSYSTEMSANDITDOESNOTINTEGRATEDISPLACEMENTSASINLASERINTERFEROMETERSTHENOVELTYOFTHEMECHANICALDESIGNISWITHRESPECTTOTHE4ARMSTHATATTACHTOTHEENDEFFECTORTHEARRANGEMENTANDCONFIGURATIONHASTHEADVANTAGEOFEASIERCONTROL,ASIMPLIFIEDKINEMATICSMODELANDADDEDSTIFFNESSSENSORGRIDTHESENSORGRIDOPERATESASINTENDEDAFTERHAVINGINTEGRATEDALLTHEFUNCTIONSDESCRIBEDONTHEMICROCONTROLLERTHEPROJECTISSTILLINTHETESTINGPHASEANDISCURRENTLYBEINGINTEGRATEDINTOTHESYSTEMMUCHWORKISSTILLNEEDEDTOENSURETHESCREENWORKSPROPERLYWITHALLDATACONVERSIONANDTRANSFERROUTINESTHESECONDVERSIONOFTHESCREENISCURRENTLYBEINGDESIGNEDTOIMPROVERESOLUTIONANDSYSTEMREPEATABILITYMECHANICALSTRUCTURETHEMOSTIMPORTANTASPECTOFTHEMECHANICALSTRUCTUREISTHEARTICULATEDARMSASIMULATIONMODELWASCREATEDTOSIMULATEANDANIMATEITSMOVEMENT,TOENSURETHATITCOMPLIESWITHTHEREQUIREMENTSOFTHEDESIGNTHERESULTSARESHOWNINFIGURE14AMOTIONGENERATORISATTACHEDTOEACHSERVOHEADANDISSETTOFOLLOWAHARMONICFUNCTIONTHEENDEFFECTORSMOTIONSPANNEDTHEENTIRERANGEOFTHESENSITIVITYAREAMOSTIMPORTANTLYTHELASERMOUNTINGREMAINEDPARALLELTOTHESENSORGRIDPCBSENSORPLANETHROUGHOUTITSMOTION,THISENSURESTHATTHELASERBEAMISALWAYSPERPENDICULARTOADETECTORTHESINGULARITIESFORTHISMECHANISMOCCURWHENTHEARMSARECOMPLETELYEXTENDEDORFOLDED,WHENTHEUPPERANDLOWERLEGSARECOLINEARTHISSITUATIONWASAVOIDEDINTHESIMUL
- 温馨提示:
1: 本站所有资源如无特殊说明，都需要本地电脑安装OFFICE2007和PDF阅读器。图纸软件为CAD,CAXA,PROE,UG,SolidWorks等.压缩文件请下载最新的WinRAR软件解压。
2: 本站的文档不包含任何第三方提供的附件图纸等，如果需要附件，请联系上传者。文件的所有权益归上传用户所有。
3.本站RAR压缩包中若带图纸，网页内容里面会有图纸预览，若没有图纸预览就没有图纸。
4. 未经权益所有人同意不得将文件中的内容挪作商业或盈利用途。
5. 人人文库网仅提供信息存储空间，仅对用户上传内容的表现方式做保护处理，对用户上传分享的文档内容本身不做任何修改或编辑，并不能对任何下载内容负责。
6. 下载文件中如有侵权或不适当内容，请与我们联系，我们立即纠正。
7. 本站不保证下载资源的准确性、安全性和完整性, 同时也不承担用户因使用这些下载资源对自己和他人造成任何形式的伤害或损失。
人人文库网所有资源均是用户自行上传分享，仅供网友学习交流，未经上传用户书面授权，请勿作他用。
川公网安备: 51019002004831号