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International Technology and Innovation Conference 2006

作者： WANG Yiming, LI Ping Beijing Institute of Graphic Communication, Beijing 102600, China Zhejiang University, Hangzhou 310027, China

＜正＞A novel method on motion precision for high speed adjustable rotor set is presented, concerning the intangible mechanical precision for a micro coating device. In the equipment to carry out micro material being coated, it is essential for adjustable rotor set to be determined its economic manufacturing precision so as to meet the procedure’s demand. With a component coordinate frame for each roller being set up, the function between mechanical precision and clearance of rollers is established. precisions involve geometry of each roller, assembling of the coater device and displacement of the adjustable mechanism. According to procedure demand of micro coating, the mathematical model between uniformity of material thin and roller’s parameters is set up, including structure parameter, adjustable parameter and input motion parameter. The optimization parameters of geometry and motion are proposed. Then the calculated results is applied to Model SL1100 high speed solventless laminators and proved to be true. The conclusions show that the model of motion precision for high speed rotor set and the actual effect is consistent. The coating device can meet the need within 5-micrometer tolerance. The method is widely used in high speed laminating machine, gravure machine, and web press, etc.

关键词： High speed adjustable rotor set motion precision material’s micro coating precision manufacturing.

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RESEARCH ON motion precision FOR A HIGH SPEED ADJUSTABLE ROTOR SET

RESEARCH ON MOTION PRECISION FOR A HIGH SPEED ADJUSTABLE ROT...

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2006年中国机械工程学会年会暨中国工程院机械与运载工程学部首届年会

作者： WANG Yiming, LI Ping Beijing Institute of Graphic Communication, Beijing 102600, China, Zhejiang University, Hangzhou 310027, China

A novel method on motion precision for high speed adjustable rotor set is presented, concerning the intangible mechanical precision for a micro coating device. In the equipment to carry out micro mate

关键词： High speed adjustable rotor set motion precision material’s micro coating precision manufacturing.

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motion Error Compensation of Multi-legged Walking Robots

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Chinese Journal of Mechanical Engineering 2012年第4期25卷 639-646页

作者： WANG Liangwen CHEN Xuedong WANG Xinjie TANG Weigang SUN Yi PAN Chunmei State Key Laboratory of Digital Manufacturing Equipment and Technology Huazhong University of Science and Technology Wuhan 430074 China Mechanical and Electrical Engineering Institute Zhengzhou University of Light Industry Zhengzhou 450002 China

Existing errors in the structure and kinematic parameters of multi-legged walking robots,the motion trajectory of robot will diverge from the ideal sports requirements in *** the existing error compensation is usually used for control compensation of manipulator arm,the error compensation of multi-legged robots has seldom been *** order to reduce the kinematic error of robots,a motion error compensation method based on the feedforward for multi-legged mobile robots is proposed to improve motion precision of a mobile *** locus error of a robot body is measured,when robot moves along a given *** of driven joint variables is obtained by error calculation model in terms of the locus error of robot *** value is used to compensate driven joint variables and modify control model of robot,which can drive the robots following control model *** model of the relation between robot＇s locus errors and kinematic variables errors is set up to achieve the kinematic error *** the basis of the inverse kinematics of a multi-legged walking robot,the relation between error of the motion trajectory and driven joint variables of robots is ***,the equation set is obtained,which expresses relation among error of driven joint variables,structure parameters and error of robot＇s *** MiniQuad as an example,when the robot MiniQuad moves following beeline tread,motion error compensation is *** actual locus errors of the robot body are measured before and after compensation in the *** to the test,variations of the actual coordinate value of the robot centroid in x-direction and z-direction are reduced more than one *** kinematic errors of robot body are reduced effectively by the use of the motion error compensation method based on the feedforward.

关键词： multi-legged walking robot error model motion error compensation kinematic analysis motion precision

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