论文部分内容阅读
机械手臂样机的设计与制造是用来证明浮力——重力驱动思想的可行性的。样机的主要设计参数和几何参数见下表。图1是计算机控制的机械手臂的简图(其主要系统元件都已标明). 系统依赖于一个电位位置传感器来计量臂的倾角θ.传感器的信号被通过一个八位A/D转换器传到6502微处理机,错误信号可以算出并运用比例控制
The design and manufacture of robotic mock-ups are used to demonstrate the viability of buoyancy-gravity-driven thinking. The main design parameters and geometry parameters of the prototype are shown in the following table. Figure 1 is a simplified diagram of a computer-controlled robot arm whose main system components are labeled. The system relies on a potentiometric position sensor to measure arm tilt. The sensor signals are passed through an eight-bit A / D converter 6502 microprocessor, the error signal can be calculated and the use of proportional control