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介绍了用于聚氨酯凝胶/发泡分布图测试的机器人智能测试系统。本系统由Gold-Key机器人、发泡高度检测子系统、钢球投掷机构、二级微计算机及接口电路等构成。讨论了修改人工BBS法操作的作业结构。运用三角学方法和最少自由度原则,得到了操作手运动方程简化的求解算法。与人工BBS法相比,本系统检测精度高、采样点和投球点多、投球动作精确。所绘制的分布图能更清晰地反映发泡过程的真实情况。
The robot intelligent test system for polyurethane gel / bubble map test is introduced. The system consists of Gold-Key robot, foam height detection subsystem, ball throwing mechanism, two micro-computer and interface circuit and other components. Discusses the job structure to modify the manual BBS operation. By using the principle of trigonometry and the principle of least degree of freedom, a simplified solving algorithm of the operator’s hand movement equation is obtained. Compared with the artificial BBS method, the system has high detection precision, more sampling points and pitching points and precise pitching action. The plot drawn can more clearly reflect the true state of the foaming process.