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Indentification and Compensation of Robot Kinematic Parameters for Positioning Accuracy Improvement
김두형,국금환,Kim, Doo-Hyeong,Guk, Geum-Hwan 한국기계연구원 1989 기계연구원소보 Vol.19 No.-
This paper presents a simple identification method of the actual kinematic parameters for the robot with parallel joints. It is known that Denavit-Hartenberg's coordinate system is not useful for nearly parallel joints. In this paper, the coordinate frames are reassigned to model the kinematic parameter between nearly parallel joints by four parameters. The proposed identification method uses a straight ruler about 1m long. A robot hand is placed by using a teaching pendant at the prescribed points on the ruler, and corresponding error function is defined. The identified kinematic parameters which make the error function zero are obtained by iterative least square error method based on the singular value decomposition. In the compensation of joint angles, only the position is considered because the usual applications of robot do not require a precise orientation control.
김두형(Doo-Hyeong Kim),박찬훈(Chan-Hoon Park),최태용(Tae-Yong Choi),김휘수(Hwi-Su Kim),김왕환(Yoang-Hwan Kim) 한국생산제조학회 2018 한국생산제조학회지 Vol.27 No.4
In the fields of air/gas compression, refrigeration, and chemical fluid transportation systems, single-screw compressors are widely used. A screw rotor and two gate rotors located at both sides are the main components of a single-screw compressor. Because of this simple construction, it has merits of low rotational speed of the rotor, efficient compression with low noise, low vibration, and long bearing life. However, it is difficult to design single-screw compressors. To accelerate the design and manufacturing of single-screw compressors, a design method for a gate rotor using coordinate transformation and numerical estimation by iteration of edge points is presented in this paper. The lines connecting the edge points can be used for CAD/CAM data for design and machining.