摘要
通过对装配现场的分析,分别设计制作了移动式全自动前后车架装配板链线,对延续多年的前后车架地摊搭架式装配进行了重大改进,使得员工工作环境得到了明显改善,工作效率得到大幅提升。设计了三维立式工作吊架,通过制作工装保证轴承的位置,并通过小型油压机将轴承快速压型到位,效率高,大大降低员工的劳动强度,同时不使用铜棒敲击,避免了噪声,改善了装配现场环境,提高了轴承的装配精度。装配产能也提升到了8分钟/台,装配效率提高50%。
The kinematic modeling method for a wheeled mobile robot is studied. A modeling method called wheel-center modeling（WCM）for kinematics of a wheeled mobile robot that moves on uneven terrain is presented.The vector expression of wheel center velocity is derived based on the analysis of the velocity characteristic of a multi rigid chain＇s locomotion and the wheel-model moving mechanism＇s moving on uneven terrain. The method of WCM is introduced as a result. The projection of the angular velocity of the rotary joints in the rover centre frame is analysed and the projection of vector cross product is expressed as different forms according to whether the direction of the angular velocity relatively to rover centre frame changes or not. The wheel centre velocity is projected to the rover body centre coordinate frame with the use of the elements of the homogeneous transformations from the wheel centre frame and the wheel-terrain contact frame to the rover center frame. Thus,the kinematics of the rover is modelled. The procedure of kinematic modelling using WCM is introduced and the characters of WCM is analysed. The method＇s validity is verified by experiment and simulation.
出处
《装备制造技术》
2014年第9期97-99,118,共4页
Equipment Manufacturing Technology
关键词
板链线
油压机
流水线
double glow
artificial neural network
prediction mo
