机器人装配中的几何不确定性建模

在机器人装配中,几何不确定性使装配工件的真实位姿在一定的区域内变化,对几何不确定性建模就是求解物体的几何不确定性区域。将几何不确定性解耦成位置不确定性和 姿态不确定性的组合,对位置不确定性用物体上各点的不确定性球表征,而姿态不确定性用各点的不确定性球表征,并由此求得物体的几何不确定性区域。由于得到的模型较为抽象复杂,在实践应用中,需要进行必要的简化,在此仅对一些近似方法作了简要讨论。     

In vitro assembly of plant tubulin in the absence of microtubule-stabilizing reagents

The assembly of microtubules is essential for physiological functions of microtubules. Addition of microtubule-stabilizing reagents or microtubule “seeds” is usually necessary for plant tubulin assemblyin vitro, which hinders the investigation of plant microtubule dynamics. In the present note, highly purified plant tubulins have been obtained from lily pollen, a non-microtubule-stabilizing reagent or microtubule “seed” system for plant tubulin assembly has been established and the analysis of plant tubulin assembly performed. Experiment results showed that purified tubulin polymerizedin vitro, and a typical microtubule structure was observed with electron microscopy. The kinetics curve of tubulin assembly exhibited typical “parabola”. The presence of taxol significantly altered the character of plant tubulin assembly, including that abnormal microtubules were assembled and the critical concentration for plant tubulin assembly was decreased exceedingly from 3 mg/mL in the absence of taxol to 0.043 mg/mL in ihe presence of taxol.     

螺钉自动抓拿认扣装置的设计

为克服螺钉自动装配作业中存在的认扣成功率低、机构复杂、专用设备成本较高等缺点 ,在分析典型轴孔间隙配合插入问题的基础上 ,采用自然参数向量对螺钉在螺孔中装配时的允许倾斜角度进行了计算 ,阐述了螺钉认扣过程中的几种状态 ,设计出利用立式加工中心对 M8内 6角螺钉自动抓拿认扣的装置。经实验验证 ,该装置结构简单、性能可靠 ,在保证螺钉装配成功率的同时 ,扩充了原加工中心的功能     

AutoCAD环境下二维装配的预处理方法

首先分析ＡｕｔｏＣＡＤ环境下二维装配预处理存在的问题,然后提出了基于ＡｕｔｏＬＩＳＰ函数和基于几何运算实现二维装配预处理的两种方法,最后比较了两种方法的优缺点。     

非等长度组合厚壁筒装配应力之光弹性验证

利用光弹性实验对非等长度组合厚壁筒进行应力分析 ,验证了有限元计算结果。得出光弹性实验与有限元计算结果一致。     

非等长度组合厚壁圆筒装配压力

利用有限元法对非等长度组合厚壁圆筒装配压力进行了计算 ,得到了装配压力的分布曲线 ,找出了装配压力随各参数的变化规律     

大型双壁钢围堰浅水区整体拼装下水及定位技术

以柳州市广雅大桥为例,详细介绍了大型双壁钢围堰浅水区整体拼装下水及定位技术。     

基于三菱控制器的导管座圈装配控制系统

发动机缸盖进排气孔的导管和座圈装配质量直接影响整机动力性能.三菱发动机装配控制系统中的压力位移监控部分由德国试达默公司的压力位移传感器和研华公司的模拟量采集卡PCI1710构成.监控软件采用VB开发,相关数据存储在工控机的数据库中,并且通过数字量采集卡PCI1713实现与PLC控制系统信号交互.该系统完全实现了装配过程中的压力位移实时监控,较之德国试达默公司的压力位移监控器每套装置节省成本三万元左右.     

TD-SCDMA测试仪中Iub接口实现RLC层信令解码

为了更精确地完成TD-SCDMA测试仪中相关信令的解码测试工作,对TD-SCDMA系统的Uu接口RLC 层信令在Iub接口实现的解码进行了深入分析和研究,给出了RLC层的信令消息结构和流程,提出了”RLC解码的 一种算法,并且应用到TD-SCDMA测试仪中,经调试并实际测试后,得到了预期的良好效果。经过再改进,完全可 以满足市场需要。     

Strategic Robust Mixed Model Assembly Line Balancing Based on Scenario Planning

Assembly line balancing involves assigning a series of task elements to uniform sequential stations with certain restrictions. Decision makers often discover that a task assignment which is optimal with respect to a deterministic or stochastic/fuzzy model yields quite poor performance in reality. In real environments, assembly line balancing robustness is a more appropriate decision selection guide. A robust model based on the α worst case scenario is developed to compensate for the drawbacks of traditional robust criteria. A robust genetic algorithm is used to solve the problem. Comprehensive computational experiments to study the effect of the solution procedure show that the model generates more flexible robust solutions. Careful tuning the value of α allows the decision maker to balance robustness and conservativeness of as- sembly line task element assignments.