English  |  正體中文  |  简体中文  |  全文笔数/总笔数 : 54918/89265 (62%)
造访人次 : 10601016      在线人数 : 31
RC Version 7.0 © Powered By DSPACE, MIT. Enhanced by NTU Library & TKU Library IR team.
搜寻范围 查询小技巧:
  • 您可在西文检索词汇前后加上"双引号",以获取较精准的检索结果
  • 若欲以作者姓名搜寻,建议至进阶搜寻限定作者字段,可获得较完整数据
  • 进阶搜寻

    jsp.display-item.identifier=請使用永久網址來引用或連結此文件: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/38190

    题名: Path planning for robot-assisted grinding processes
    作者: Wang, Yin-tien;Jan, Y. J.
    贡献者: 淡江大學機械與機電工程學系
    日期: 2001-05
    上传时间: 2010-04-15 10:30:35 (UTC+8)
    出版者: Washington: IEEE Computer Society
    摘要: Path planning for a robot-assisted surface finishing system with an active torque controller is presented. We utilize a dexterous manipulator to attain the desired position and orientation in three-dimensional space during finishing processes. A single-axis active controller consists of a DC motor and a software observer is attached to the robot wrist and used to actuate a pneumatic hand-grinder. The torque observer is designed to sense the grinding contact force based on the driving current and output position of the motor. Zigzag and fractal paths on curved surfaces are designed for the grinding processes. In order to determine an ideal grinding condition, Taguchi's method for experimental design is utilized. We choose four grinding conditions, namely, path pattern, grinding contact pressure, tool diameter, and feed rate. Tendencies of these factors can be found from the experiments. In this research, the prototype of a robot-assisted finishing system is constructed and tested on a Tatung A330 robot. The experimental results show that the robot-assisted finishing system functions well under a variety of grinding conditions.
    關聯: Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on (Volume:1 ), pp.331-336
    DOI: 10.1109/ROBOT.2001.932573
    显示于类别:[機械與機電工程學系暨研究所] 會議論文


    档案 描述 大小格式浏览次数
    Path planning for robot-assisted grinding processes.pdf626KbAdobe PDF620检视/开启



    DSpace Software Copyright © 2002-2004  MIT &  Hewlett-Packard  /   Enhanced by   NTU Library & TKU Library IR teams. Copyright ©   - 回馈