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Combined method for parallel manipulator configuration design

High Technology Letters 2005年第3期11卷 250-256页

作者： Guan Liwen（关立文） Wang Jinsong Wang Liping Department of Precision Instrument Engineering Tsinghua University Beijing 100084 P.R. China

Configuration design is an essential, creative and decision-making step m parallel manipulator design process, in which modeling and assembly are iterative and trivial. Combined approach with automatic parametric modeling and automatic assembly is proposed for parallel manipulator configuration design. The design process and key techniques, such as configuration design, configuration verification, poses calculation of all parts in parallel manipulator, virtual assembly and etc., are discussed and demonstrated by an example. A software package is developed for parallel manipulator configuration design based on the proposed method with Visual C＋＋ and UG/OPEN on Unigraphics.

关键词： parallel manipulator combined configuration design automatic parametric modeling automatic assembly

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Key Technology and Complete-set Equipment for Intelligent Construction of HSR Simply-supported Girder Reinforcement Framework

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Chinese Railways 2023年第2期 12-19页

作者： ZHENG Hemin NIU Yuanzhi YIN Aiguo ZHANG Shaopeng LI Yanyun HUANG Yimiao ZHENG Mingda(Translated) China Railway Design Corporation China Railway Seventh Group Co. Ltd. TJK Machinery(Tianjin)Co. Ltd. School of Civil and Transportation Engineering Hebei University of Technology 不详

In view of the problems such as backward production mode,poor quality stability,high safety risk and incomplete control system during erection of the reinforcement framework of simply-supported box girders for high-speed railway(HSR),and in combination with the key points and main challenges in the reinforcement framework construction of Guangzhou-Zhanjiang HSR,the overall technical route for the intelligent manufacturing of reinforcement framework of simply-supported box girders is put *** component design of reinforcement framework of simply supported box girder is carried out based on BIM,and the feasibility of the scheme is verified through segment assembly *** assembly techniques are studied in combination with the mesh design scheme to achieve rapid forming of the reinforcement framework.R&D of automatic processing equipment for components,material transshipment equipment,automatic hoisting equipment and technological equipment for assembly clamping fixture are carried out to realize the overall design of equipment production *** intelligent control system is developed for the whole-process intelligent construction of reinforcement framework to realize the full life-cycle applications for the workshop production and visual management including intelligent layout and quality *** research results systematically optimize and innovate the assembly and forming technologies of reinforcement framework in the prefabrication beam yard of high-speed railway,realize the component processing,automatic assembly and information technology management,improve the construction quality,efficiency and information technology level of intelligent manufacturing of reinforcement framework of railway prefabricated beam as a whole,and reduce the construction cost of the *** research has realized a major breakthrough in the construction technology of railway prefabricated box girders,which has the extensive technical and market promotion values.

关键词： simply-supported box girder reinforcement framework intelligent construction component processing automatic assembly information technology management

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The Development of Dynamic Compliant Wrist for Robots

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Journal of Beijing Institute of Technology 1994年第2期3卷 176-182页

作者：张建民陈豫生北京理工大学机械工程系

Based on an analysis of the relative shaft-to-hole position and attiude errors, as well as of the mechanics and Kinematics in the process of automatic assembly of industrial robots, the paper studies the principle of construction of dynamic wrists. Type I-3 and Ⅱ-6 dynamic compliant wrists have been designed and made. Prblems in the production of compliant elements and the connection between compliant elements and wrists were also solved. A study on the results of tests of the function of two kinds of dynamic compliant wrists shows that the dynamic compliant wrist's compliancy function can be improved by adding metallic materials having higher longitudinal and transverse rigidity into the softer elstomer. And the design Principle is proved to be feasible and practicable. It can be expected that the use of dynamic compliant wrist will greatly lower the technical requirements of the shaft-hole assembly and the requirements in the resetting accuracy.

关键词： industrial robots asembling (machinery)/dynamic compliance compliant element wrist automatic assembly position and attitude errors

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