关 键 词：

含CAD图纸和文档全套 LB6 弹体 尺寸 自动 测量 设备 开发 控制系统 设计 CAD 图纸 文档 全套

资源描述：

【温馨提示】====【1】设计包含CAD图纸 和 DOC文档，均可以在线预览，所见即所得，，dwg后缀的文件为CAD图，超高清，可编辑，无任何水印，，充值下载得到【资源目录】里展示的所有文件======【2】若题目上备注三维，则表示文件里包含三维源文件，由于三维组成零件数量较多，为保证预览的简洁性，店家将三维文件夹进行了打包。三维预览图，均为店主电脑打开软件进行截图的，保证能够打开，下载后解压即可。======【3】特价促销，，拼团购买，，均有不同程度的打折优惠，，详情可咨询QQ：1304139763 或者 414951605======【4】 题目最后的备注【LB6系列】为店主整理分类的代号，与课题内容无关，请忽视

内容简介：

Novel Design and 3-D Printing of Nonassembly Controllable Pneumatic RobotsAbstractAdditive manufacturing (known as 3-D print-ing to the public) technologies are capable of fabricating mechanical parts without the limitation of geometric complexity. If properly designed, a mechanism can also be automatically fabricated without the need of assembly. Considering these capabilities of 3-D printing, this paper presents a novel pneumatic robot design that can be fabricated by 3-D printing processes without the need of assembly. The key element of the proposed robot is the innovative design of a pneumatic stepper motor that allows control of multi motion pattern modes. The proposed pneumatic stepper design is based on a fan motor, thus, having a low requirement on airtightness, which makes it possible for 3-D printing fabrication. For angular motion control, a roller valve is added to the fan motor design. By controlling the air pressure of the roller valve, continuous motion and stepping motion can be obtained. Experiments have shown that the angular velocity can also be controlled by varying the roller-valve air pressure. The effectiveness of the proposed concepts has been demonstrated by a 3-D printed nonassembly pneumatic robot. The printed robot, when connected with air tubes and a pneumatic controller, can perform simple pick and place operations. It is argued that the future functional nonassembly pneumatic robotic systems could be 3-D printed for relevant industries.Neumatic actuation is widely used in industrial application for its low cost, compact size, high power to weight ratio, reliability and security. In some cases, pneumatic actuation is even preferable to electric ones, especially in medical applications, such as magnetic resonance medical imaging equipment and high-risk environments like inflammable gas vessels or pipes. Some classic pneumatic actuatious, rotary or linear, have been fully developed . However, such classic actuations have high requirement on air impermeability and precision of fabrication and assembly, which increase the production time and cost. In addition, the error resulted from fabrication and assembly process may lead to a reduced precision in controlled.One of the key pneumatic actuators in pneumatic systems is the pneumatic stepper motor. Recent effort has been concentrating on developing more accurate pneumatic stepping motors, or stepper motor that is compliant to magnetic resonance imaging (MRI) environment. From the literature, four types of pneumatic stepper motors have been proposed. Stoianovici et al., developed a MRI compliant stepper motor called PneuStep, whose resulting step size could reach 3.33 (angular) and 0.055 mm (linear). The working principle of PneuStep . The main structures are composed of three diaphragm cylinders, a set of internal gears, and output cranks. The ring gear is fixed, while the outer gear is connected to an output shaft. The motor is able to act in stepper mode by sequentially actuating the three diaphragm cylinders. another type of stepper motor developed by Masamune et al. The motor is composed of three pistons within their respective syringes and two types of gears: a rotational gear and three direct acting gears. There is a certain stagger angle be-tween the rotational gear and the direct acting gear. Every time the acting gear moves up and contacts the rotational gear, the rotational gear will rotate a certain stepper angle to couple with the acting gear. Therefore, the motor could constantly output stepper motion by sequenced cooperation of the three acting gears. The stepper developed by Chen et al. adopts similar principles, but has the smallest size among all these pneumatic stepper motors with only 10 mm in diameter. However, these reported stepping motors rely on either the inter meshing inter-action of different sets of gears, or the cooperation of the linear motion of piston crank and linkage mechanism to realize the stepping motion, which requires precision manufacturing and assembly. Another novel design proposed by Chen et al.refers to the principle of two stroke engine. The use of crank transforms the linear motion of the two coupled pistons to rotational motion of the output shaft. The actuation system can rotate 3.6 in each step. Compared with the previous designs, this concept greatly simplifies the working principle and mechanical design of conventional pneumatic stepper motor. However, the main disadvantage of these stepping motors is speed discontinuity and vibration. In many cases, it is desirable if a motor can switch motion patterns between continuous mode and stepping mode. The latest design proposed by Chen et al. is able to output continuous rotation according to its working principle, which is similar to a vehicle engine. But it requires a precise control on the cooperation of two pistons and the design is quite complicated. An unsuccessful control strategy may result in a very large torsional torque on the crank which may cause great damage. All the above stepper motor designs have complex mechanisms, making them unsuitable for 3-D printing.Additive manufacturing, known as 3-D printing to the public, is a fabrication method where physical objects are constructed layer by layer , As opposed to conventional method, 3-D printing can fabricate parts and mechanisms directly from the computer-aided design model, regardless of the shape complexity. Due to this property, 3-D printing technologies can greatly shorten the product design circle, save time and cost, and provide access to early verification of product designs,. In traditional manufacturing processes, individual parts have to be fabricated first, and then, assembled into final mechanisms which are time and money consuming. Moreover, the assembly process requires high accuracy. Otherwise, the final mechanism can easily get stuck and fail to work due to inappropriate positions and match-up of move able parts. On the contrary, 3-D printing allows one-step fabrication of complex mechanisms, such as multi links and multi articulated mechanisms without the need of any assembly of components. It has a great potential to change the way how mechanisms and robotic systems are currently designed and built.Three-Dimensional printing of nonassembly mechanisms and robotic systems has been researched for quite a long time. Many different 3-D printing processes are applied to fabricate robotic mechanisms. Fused deposition modeling was used by Gosselin et al., to build several mechanisms, such as parallel manipulator. These rapidly printed mechanisms required further assembly of mechanism parts. Cutkosky et al., at Stanford University used shape deposition manufacturing , to develop a flexible joint with embedded components. These components were inserted to the mechanism during its fabrication as an integrated process rather than post fabrication assembly. However, such process is challenging, because it requires high surface quality and geometric accuracy of the contact areas, and precise positioning and fix turing of embedded components. These requirements brought extra complexities and difficulties into the design and fabrication process. Mavroidis et al., had contributed to building nonassembly robotic system with embedded parts, such as robotic hand and radio-controlled vehicle.Their works advance the development of one-step fabrication of fully functional, multi articulated mechanism with embedded components. However, the requirement of accurate insertion of the embedded components is still a tough problem that makes AM less cost-effective, and is only applicable to selected applications. Chen et al., at the University of Hong Kong focus on the shape optimization and analysis of nonassembly joint mechanisms using different 3-D printing techniques . These works provide alternative ideas of 3-D printing tolerance-tight mechanisms. They also contributed to the novel design of nonassembly mechanisms and systems. However, they did not take mechanism actuation into consideration. The automated fabrication of nonassembly, fully functional mechanism is by now still the dream of researchers in the 3-D printing community. New AM processes or AM compatible processes that support 3-D printing of functional materials is under active research, because functional materials may potentially be designed to function as actuators. Such actuators might be printed through layered manufacturing during fabrication. However, such multi material 3-D printers are still under research. Overall, it is highly desirable to print the actuators in situ the robotic mechanism printing process.To the best knowledge of the authors, the proposed research reported in this paper is the first automatically 3-D printed robotic mechanisms without the need of assembly, or embedding other actuating components. The 3-D printed robot can plug (to a controller) and play (pick and place). This paper demonstrates a new effort to fabricate a fully functional nonassembly robot without any inserts, such as mechanical connecting pins and electronic actuators. The proposed effort is based on pneumatic actuation. The usage of a pneumatic actuator as the prime mover can effectively eliminate the insertion of circuits and electronic parts for robotic actuation. Since the proposed pneumatic robot is entirely made of polymer material that is nonmagnetic and dielectric, it has great potential in applications where electricity is not allowed or preferred, such as working in MRI equipment or working in high risk environments like inflammable gas vessels or pipes. Because previous pneumatic stepper mo-tors are designed with a large amount of assembly and material combination in mind, they cannot be used in this research. In this research, an innovative roller-valve-based pneumatic step-per motor design is proposed. The proposed design can be easily integrated into a robotic mechanism and fabricated without the need of assembly. In addition, unlike previously reported pneumatic stepper motors that have speed limitation and speed discontinuity problems, the proposed pneumatic stepper motor design allows velocity control, and the switch between continuous motion mode and stepping mode. Even though only a simple robotic mechanism is presented in this paper, it is hoped that this early research might arouse interest in 3-D printing of nonassembly and fully functional pneumatic robots. Furthermore, we are confident that the proposed concept of the nonassembly robotic design and fabrication based on 3-D printing can bring new in-sight into design innovation of various robots, such as household robots, industrial robots, and so on.Three-dimensional printing technology has many advantages. The simple articulated joint requires at least three parts: link 1, link 2, and the hinge pin. These three parts have to be manufactured individually with different machine tools, and an extra assembly process is required. On the contrary, 3-D printing needs only digital assembly by making provision of a clearance between parts with relative motion. The digitally assembled model is constructed layer by layer. This 3-D printed nonassembly joint clearly shows the reduction in the component number and the elimination of post assembly. Such reduction and simplification not only save cost and raise efficiency, but also improve the stability and reliability of the mechanism. Three-dimensional printing has made great improvements in terms of manufacturing accuracy, material property, surface quality, hardness, toughness, and part durability over the years. These improved features make 3-D printing of nonassembly fully functional devices more and more attractive.The design and development of functional mechanisms and robotic systems that can be fabricated without the need of assembly is very attractive .conceptual diagram of PneuStep, the first pneumatic stepper designed by Stoianovici et al. It consists of four main parts that are represented by different colors in Fig. 3. The step motion is achieved by sequentially pressurizing three diaphragm cylinders as D1D2D3. Al-though PneuStep has great performance, its design complexity leads to a high manufacturing cost and long development cycle time. The motor design has more than 25 different parts. The assembly of the individual parts together with fasteners, bearings, and connectors is not an easy task. The application of three crank mechanisms to produce planetary motion requires precise fabrication and assembly. Otherwise, it is more likely to result in interference between moving parts, which can lead to motor failure.非组装机制可控气动机器人新颖的设计和三维印刷摘要：增材制造业(称为三维打印技术)技术能够制造机械零件，没有几何复杂性的限制。如果设计得当,也可以自动的机制不需要组装制造。考虑到这些三维打印的功能,本文提出一种新颖的气动机器人设计可以通过三维印刷制作过程不需要组装的关键要素,提出了机器人创新设计的气动控制步进电机,使多运动模式的模式。该气动步进设计是基于一个风扇电机,因此,在密封性要求较低,这使得有可能3 d印刷制作。角运动控制辊阀被添加到风扇电机的设计。通过控制辊的空气压力阀,可以获得连续运动和步进运动。实验表明,角速度也可以由不同滚动阀空气压力。提出了概念并证明了三维打印气动机器人有效性。印刷的机器人,当与空气管和气动控制器,可以执行简单的选择和地点操作。认为未来气动机器人系统3 d印刷可以应用于相关行业。气动驱动广泛用于工业，低成本、小体积、高功率,可靠性和安全性。在某些情况下,气动驱动甚至比电动的也多,特别是在医学应用,如核磁共振医疗成像设备和高风险环境如易燃气体容器或管道。一些经典的气动驱动、旋转或直线,已经发育完全。然而,这样的经典动作要求高气密性和制造和装配精度,增加了生产时间和成本。此外,由于制造和装配过程可能导致控制精度降低。在气动系统的关键是气动执行机构，就是气动步进电机。最近集中精力发展更精确的气动步进电机或步进电机用于磁共振成像的环境。从一些文献中看到提出了气动步进电机的四种类型。一种叫做PneuStep核磁共振兼容的步进电机,其步长可以达到3.33(角)和0.055毫米(线性)。PneuStep的的主要结构是由三个气缸膜片,一组内部齿轮和输出曲柄。外齿轮齿圈固定,而连接到一个输出轴。电机能够在步进顺序模式驱动三个气缸膜片。另一种类型的步进电机马达由三个活塞在各自的注射器和两种类型的齿轮:一个旋转装置和三个直接传动的齿轮。有一定的交错角之间的转动齿轮直接传动的齿轮。每次齿轮移动和接触转动齿轮,转动齿轮会转动一个步进角。因此,电动机可以通过测序不断输出步进运动的三个齿轮。开发的步进电机采用相似的原理,但最小的大小在所有这些气动步进电机只有10毫米直径。然而,这些报道步进电动机依靠不同的齿轮互相啮合的相互作用,或合作的线性运动活塞曲柄和连杆机制实现步进运动,这需要精密制造和组装。陈等人提出的另一个新颖的设计指的是二冲程发动机。使用曲柄将两个耦合的活塞的直线运动转换为输出轴的旋转运动。驱动系统可以每一步旋转3.6。与前面的设计相比,这个概念极大地简化了传统气动工作原理和机械设计的步进电机。然而,这些步进电机的主要缺点是速度不连续和振动。在许多情况下,它是可取的,如果电机开关运动模式之间的连续模式和步进模式。陈等人提出的最新设计是能够输出连续旋转根据其工作原理,这是类似于一个汽车引擎。但它需要一个精确的控制两个活塞和设计上的合作相当复杂。一次不成功的控制策略可能会导致一个非常大的扭转力矩的曲柄可能会导致巨大的损失。上述所有步进电机设计复杂的机制,使他们不适合三维印刷。增材制造,称为三维印刷,是一种制造方法,在物理对象是一层一层地建造。与传统方法,三维打印可以制造部分直接从计算机辅助设计模型和机制,无论形状的复杂性。由于这个属性,三维打印技术可以大大缩短产品设计圈,节省时间和成本,并提供访问验证产品设计的早期,在传统的生产过程中,各个部分必须的第一,然后组装成最终的机制是耗费时间和金钱。此外,装配工艺要求精度高。否则,最后机制很容易卡住,不能工作由于不恰当的位置和相配的可移动的部分。相反,3 d印刷允许一步制造复杂的机制,如多链路和多铰接机制不需要任何组件的装配。它有一个巨大的潜力,改变目前机制和机器人系统是如何设计和建造。三维打印非组装机制和机器人系统已经被研究