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RISS 인기검색어
- 검색키워드
- 저자 : Shanming Luo (검색결과 2 건)
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Calibration Method of Roof Weld Coating Robot System Based on Plane-to-Plane Intersection Model
Shanming Luo,Fuqiang Li,Pingjiang Wang,Yin Yang,Jingyu Mo 한국정밀공학회 2020 International Journal of Precision Engineering and Vol.21 No.8
In order to solve the problems of traditional calibration methods, such as assigning internal and external parameters for camera and hand-eye relation matrices, a new method to calibrate weld coating robots based on plane-to-plane intersection model is developed in this paper. The mathematical model of the system is established by the homogeneous transformation theory, and then used to calibrate the line structured light sensor (LSLS). By adjusting the robot, the coordinate systems of the LSLS and the workpiece are superposed to solve the hand-eye relation matrix of the car roof weld coating robot. Finally, the calibrated experimental process and results towards car roof weld coating robot system are analyzed. The results show that this method is simple and high accuracy in roof weld coating robot system, and can be applied to the field calibration of car roof weld coating robot system. Furthermore, it can provide guiding significance for calibration of other robot systems.
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Meshing principle and characteristics analysis of an abnormal cycloidal internal gear transmission
Jingyu Mo,Shanming Luo,Shengping Fu,Xuefeng Chang 대한기계학회 2022 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.36 No.10
A novel 2K-H internal meshing abnormal cycloidal gear (ACG) planetary reducer is proposed to tackle the rotor vector (RV) reducer problems, such as complex overpositioning structure, high manufacturing and assembly accuracy requirements. The composite tooth profile of epicycloid-involute-hypocycloid is adopted as the tooth profile of the reducer. The aim of this study was to investigate the meshing principle of such gear and evaluate its transmission characteristics. The meshing principle of tooth profile of the ACG is described. According to the gear geometry theory, the mathematical model of conjugate tooth profile of ACG pair was derived based on the contact path. And the influence of design parameters on the ACG tooth profile were also carried out. Moreover, the non-interference condition of the ACG pair was derived, and then meshing characteristics of the ACG pair were analyzed by numerical example, such as contact ratio, sliding ratio, and meshing efficiency. The bending and contact stresses of the ACG pair were also evaluated by comparing with those of involute pair. The results show that, the ACG has good transmission characteristics, such as small sliding ratio, high transmission efficiency. Compared with the involute gear, the bending and contact stresses of the ACG are reduced. The study lays a theoretical foundation for the optimization design of the ACG and the improved reliability of the ACG reducer.
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