CN106802979A - Based on finite element analysis welding robot Model Simplification Method - Google Patents
Based on finite element analysis welding robot Model Simplification Method Download PDFInfo
- Publication number
- CN106802979A CN106802979A CN201611218659.XA CN201611218659A CN106802979A CN 106802979 A CN106802979 A CN 106802979A CN 201611218659 A CN201611218659 A CN 201611218659A CN 106802979 A CN106802979 A CN 106802979A
- Authority
- CN
- China
- Prior art keywords
- welding robot
- finite element
- bearing
- element analysis
- reductor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
- G06F30/23—Design optimisation, verification or simulation using finite element methods [FEM] or finite difference methods [FDM]
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/10—Geometric CAD
- G06F30/17—Mechanical parametric or variational design
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2119/00—Details relating to the type or aim of the analysis or the optimisation
- G06F2119/06—Power analysis or power optimisation
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Geometry (AREA)
- Theoretical Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Evolutionary Computation (AREA)
- Computer Hardware Design (AREA)
- General Engineering & Computer Science (AREA)
- Pure & Applied Mathematics (AREA)
- Mathematical Optimization (AREA)
- Mathematical Analysis (AREA)
- Computational Mathematics (AREA)
- Manipulator (AREA)
Abstract
It is cylinder by the shape simplification of reductor the invention discloses a kind of method for simplifying based on finite element analysis welding robot model, including the simplification to reductor, servomotor, base and bearing.The present invention is by the simplification to robot system model, and the mesh quality after the easy subdivision of grid and subdivision is high, and reduces the quantity of grid and shorten the calculating time, makes it easier to be applied to calculated in common calculating platform.The present invention is solved to ready-portioned model and contrasted with measured result, as a result shows result of calculation reliability, it was demonstrated that the method for simplifying of model is effective.
Description
Technical field
The present invention relates to CAD, especially a kind of simplification based on finite element analysis welding robot model
Method.
Background technology
Industrial robot structure design, when the structural modification of dynamic factor is considered, is based on experience combination repeatedly actual measurement
Want means, this method to slow down desin speed significantly, increased design cost, designing quality is also difficult to be optimal.It is existing
Solution is, in its complete machine structure characteristic of Robot Design stage forecast, to help to judge robot architecture by CAE software
The dynamic design that is good and bad and realizing structure of scheme, the disposable design success rate to improving industrial robot has extremely important
Meaning.
Using the basic thought of FInite Element be exactly by the continuous solving discrete region of problem be one group of finite population and by
The assembly of the unit that certain way is connected with each other, i.e. element subdivision.Because unit can be entered by different bind modes
Row combination, and unit can have different shape again in itself, therefore the solution domain of complex geometry can be modeled.In general
It is more tiny that model meshes are divided, and the precision of calculating is higher, but the time for calculating is also more long, the requirement to calculating platform
It is higher.Research shows that, when mesh generation is to certain size, computational accuracy is not greatly improved, opposite required
The calculating time wanted really exponential growth.And six axle welding robot complex structures, when mechanical analysis is carried out, particularly
When dynamic analysis is carried out, its kinetic model often has more complicated multiple degrees of freedom, high non-linearity, the spy of coupling high
Point, if number of grid is huge and mesh quality is bad, common calculating platform cannot be calculated or in calculating process
Even if in occur not restraining because of mesh quality, cause calculate fail.
The content of the invention
Goal of the invention：For the defect that above-mentioned prior art is present, the present invention is intended to provide a kind of be based on finite element analysis
The method for simplifying of welding robot model, is modeled using the thought butt welding machine device people of finite element, and by machine
People's system model simplifies the quality for improving grid, the quantity for reducing grid, makes it easier to be applied to common calculating platform enterprising
Row is calculated.
Technical scheme：A kind of method for simplifying based on finite element analysis welding robot model, the welding robot
Reductor simplifies and comprises the following steps：
(A) it is cylinder by the reductor shape simplification of welding robot；
(B) physical parameter of reductor is determined by experiment, the physical parameter includes rigidity and quality；
(C) material is assigned to the cylinder after simplification, the material meets the physical parameter determined in step (B)；
(D) according to the elastic modulus E and shear modulus G of the Rigidity Calculation material of reductor in step (B)；
(E) elastic modulus E and shear modulus G in step (D) calculates Poisson's ratio.
Further, the mounting surface less with area in reductor of the diameter of cylinder described in step (A) is straight
Footpath is consistent.
Further, the distance between two mounting surfaces of a height of reductor of cylinder described in step (A).
Further, the servomotor of welding robot simplifies and comprises the following steps：
A () sets the emulation pose of robot in simulation software；
The barycentric coodinates of (b) extraction machine people servomotor on each axle under the pose that step (a) is set；
C servomotor is reduced to particle unit by () at its barycentric coodinates, and the quality of servomotor is imparted into institute
State on particle unit；
D with the bearing structure of servomotor be connected particle unit by (), the quality of servomotor is evenly distributed to and is held
Carry in structure；
E () changes the emulation pose and repeat step (a)-(d) of robot, until having extracted, robot is all need to be emulated
Center of gravity under pose；
Further, bearing structure described in step (d) is the bolt hole on robot base bottom surface；In the bolt hole
Top and bottom between a bar unit be set be attached top surface and bottom surface.
Further, the base of welding robot simplifies and includes：On process detail, reservation base end face on removal base
For carry bolt hole and grid division.
Further, grid at bolt hole is sized to 2-3mm in grid division.
Further, the process detail on removal base specifically includes and chamfering and rounding is restored into right angle, non-holding is deleted
The table top and fabrication hole of load.
Further, the bearing of welding robot simplifies and includes：By the rigidity and the axle of bearing capacity that do not influence robot
Hold removal；The rigidity of robot and the bearing of bearing capacity will be influenceed to be reduced to mass spring unit, and by the quality of the bearing
It is evenly distributed to the two ends of mass spring unit.
Beneficial effect：The present invention by the simplification to robot system model, the grid matter after the easy subdivision of grid and subdivision
Height is measured, and reduces the quantity of grid and shorten the calculating time, make it easier to be applied to calculated in common calculating platform.
The present invention is solved to ready-portioned model and contrasted with measured result, as a result shows result of calculation reliability, it was demonstrated that mould
The method for simplifying of type is effective.
Brief description of the drawings
Fig. 1 is welding robot body construction schematic diagram；
Fig. 2 (a) is speed reducer structure schematic diagram；
Fig. 2 (b) is the model schematic that reductor of the present invention simplifies；
Fig. 3 is the structural representation of servomotor；
Fig. 4 (a) is robot base structural representation；
Fig. 4 (b) is the model schematic that robot base of the present invention simplifies；
Fig. 5 is bearing arrangement schematic diagram；
Fig. 6 is the schematic diagram that intrinsic frequency is measured using simple harmonic quantity power excitation method；
Fig. 7 is the schematic diagram that displacement is measured using laser method.
Specific embodiment
The technical program is described in detail below by a most preferred embodiment and with reference to accompanying drawing.
A kind of method for simplifying based on finite element analysis welding robot model, welding robot body construction such as Fig. 1 institutes
Show, the body of welding robot system mainly includes base 1, shoulder casting 2, large arm 3, elbow casting 4, forearm 5, wrist joint 6 etc., separately
Outer gear pair for also having six servomotors 7, reductor and driving-chain to be included etc..Six-degree-of-freedorobot robot body, is used for
Dexterous mechanical structure is provided, the path planning and speed planning of setting is performed, voltage signal is converted into torque by servomotor 7
With rotating speed drive control object, reductor is then to reduce rotating speed to obtain big moment of torsion.
The simplification of butt welding machine device people of the present invention mainly includes the simplification to reductor, servomotor 7, base 1 and bearing,
Simplification to each part is relatively independent, can choose a part using this method and be simplified, and is not illustrated
Remaining part can according to ordinary skill in the art means set simulation model.
Shown in the reductor of welding robot such as Fig. 2 (a), the effect of reductor is exactly to reduce rotating speed and obtain big turning
Contain gear, bearing and other structures, complex structure in square, its inside.And reductor is located between robot all parts
Binding site, if reductor model simplification is unreasonable, junction will turn into weak link, when mechanical analysis is carried out,
Causing the intrinsic frequency of body reduces, so as to cause result of calculation deviation too big.
Reductor is simplified as shown in Fig. 2 (b), is comprised the following steps：
(A) it is cylinder by the reductor shape simplification of welding robot；Reductor is connected by bolt with other components
Connect, the plane that reductor is combined by bolt with component is mounting surface, generally comprise two mounting surfaces, and the two mounting surfaces
Area it is unequal, and the diameter of the diameter of a cylinder mounting surface less with area in reductor is consistent, i.e., subtract in figure
The distance between the diameter in fast machine rightmost side face (B faces), two mounting surfaces of a height of reductor of cylinder, i.e., A faces and B faces in figure
Between vertical range, cylinder after so simplifying is convenient to be installed, and being connected between A faces and faying face is straight in simulation software
Connect setting.
(B) physical parameter of reductor is determined by experiment, the physical parameter includes rigidity and quality, wherein rigidity bag
Include torsional rigidity and bending stiffness；
(C) material is assigned to the cylinder after simplification, the material meets the physical parameter determined in step (B)；
(D) according to the elastic modulus E and shear modulus G of the Rigidity Calculation material of reductor in step (B)：
Wherein：K bendings are reductor bending stiffnesses；It is reductor torsional rigidity that K is reversed；Ip is cylinder polar moment of inertia；
(E) elastic modulus E and shear modulus G in step (D) calculates Poisson's ratio ν.
The servomotor 7 of welding robot is as shown in figure 3, servomotor 7 is the drive system in robot system, quantity
It is more, and quality is larger, and irrational simplification will cause to carry position discontinuity, and robot body center of gravity will be caused to send out
Raw skew.
The servomotor 7 of welding robot simplifies and comprises the following steps：
A () sets the emulation pose of robot in simulation software；
The barycentric coodinates of (b) extraction machine people servomotor 7 on each axle under the pose that step (a) is set；
C servomotor 7 is reduced to particle unit by () at its barycentric coodinates, and the quality of servomotor 7 is imparted to
On the particle unit；
D with the bearing structure of servomotor 7 be connected particle unit by (), the quality of servomotor 7 is evenly distributed to
In bearing structure；Bearing structure is the bolt hole on the bottom surface of robot base 1 in the present embodiment, and at the top and bottom of bolt hole
A bar unit is set between portion to be attached top surface and bottom surface.
E () changes the emulation pose and repeat step (a)-(d) of robot, until having extracted, robot is all need to be emulated
Center of gravity under pose；
Such as shown in Fig. 4 (a), the base 1 of welding robot simplifies as shown in Fig. 4 (b) base 1 of welding robot, including：
Little process detail is influenceed on Robot Stiffness performance and bearing capacity on removal base 1, retains being used on the bottom surface of base 1
The bolt hole and grid division of carrying, 2-3mm is sized to when the grid is divided by grid at bolt hole.Due to
Bolt hole on the bottom surface of base 1 plays main carrying, therefore the bolt hole for being used to carry on bottom surface is all remained,
In grid division also by bolt hole grid size set it is smaller.Wherein, the process detail on removal base 1 is specific
Including including chamfering and rounding are restored into right angle, the table top (i.e. small and turnover face) and fabrication hole of non-bearing is deleted.
The bearing of welding robot is as shown in figure 5, the bearing simplification of welding robot includes：The firm of robot will not influenceed
The bearing of degree and bearing capacity is removed；The rigidity of robot and the bearing of bearing capacity will be influenceed to be reduced to mass spring unit,
And the quality of the bearing is evenly distributed to the two ends of mass spring unit；Wherein, whole system is assembled by all parts
Come, the position being combined between parts is joint portion, it combines and belongs to flexible combination, and it will cause the Stiffness Drop of system
Low, damping increases, so as to the intrinsic frequency for causing system is reduced.When bearing is in joint portion, it will to the intrinsic frequency of system
Rate produces influence, as influences the rigidity of robot and the bearing of bearing capacity；The rigidity of bearing can be counted by following formula
Calculate.
Wherein：Kr is bearing rigidity；Ff is radial load；Z is rolling element number；L is that the effective of rolling element in bearing connects
Touch length；α is bearing contact angle.
Fig. 6 is shown using the schematic diagram of simple harmonic quantity power resonance method test machine people's intrinsic frequency.Using simple harmonic quantity power to machine
People carries out exciting, so as to the resonance of robot will be caused, each rank intrinsic frequency of robot system is found out using sensor, this
The intrinsic frequency that invention will be obtained with simplify the frequency that emulation obtains according to the present embodiment and contrasted.
Fig. 7 shows the displacement under fully loaded transportation condition using laser method test machine people.Robot is mixed up into pose, then
Three probes of laser are directed at testboard by standard, will be popped one's head in corresponding sensor zero setting, and weight is then hung in robot
Carry, pedestal will produce skew, and probe will capture this change, so as to the change of numerical value above sensor can be caused.And
Numerical value above sensor be exactly robot under this pose and this loading condition respectively X, Y, Z-direction displacement, with
The method hangs the displacement of heavy-load robot under measuring different positions and pose respectively, and is tied with the robot displacement obtained by simulation software
Fruit compares to verify the validity of model optimization.
The above is only the preferred embodiment of the present invention, it should be pointed out that：Come for those skilled in the art
Say, under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications also should be regarded as
Protection scope of the present invention.
Claims (9)
1. a kind of method for simplifying based on finite element analysis welding robot model, it is characterised in that the welding robot
Reductor simplifies and comprises the following steps：
(A) it is cylinder by the reductor shape simplification of welding robot；
(B) physical parameter of reductor is determined by experiment, the physical parameter includes rigidity and quality；
(C) material is assigned to the cylinder after simplification, the material meets the physical parameter determined in step (B)；
(D) according to the elastic modulus E and shear modulus G of the Rigidity Calculation material of reductor in step (B)；
(E) elastic modulus E and shear modulus G in step (D) calculates Poisson's ratio.
2. the method for simplifying based on finite element analysis welding robot model according to claim 1, it is characterised in that step
Suddenly the diameter of the mounting surface less with area in reductor of the diameter of cylinder described in (A) is consistent.
3. the method for simplifying based on finite element analysis welding robot model according to claim 1, it is characterised in that step
Suddenly the distance between two mounting surfaces of a height of reductor of cylinder described in (A).
4. the method for simplifying based on finite element analysis welding robot model according to claim 1, it is characterised in that institute
Servomotor (7) simplification for stating welding robot comprises the following steps：
A () sets the emulation pose of robot in simulation software；
The barycentric coodinates of (b) extraction machine people servomotor (7) on each axle under the pose that step (a) is set；
C servomotor (7) is reduced to particle unit by () at its barycentric coodinates, and the quality of servomotor (7) is imparted to
On the particle unit；
D with the bearing structure of servomotor (7) be connected particle unit by (), the quality of servomotor (7) is evenly distributed to
In bearing structure；
E () changes the emulation pose and repeat step (a)-(d) of robot, until having extracted all poses that need to be emulated of robot
Under center of gravity.
5. the method for simplifying based on finite element analysis welding robot model according to claim 4, it is characterised in that step
Suddenly bearing structure described in (d) is the bolt hole on robot base (1) bottom surface；Between the top and bottom of the bolt hole
A bar unit is set to be attached top surface and bottom surface.
6. the method for simplifying based on finite element analysis welding robot model according to claim 1, it is characterised in that institute
Base (1) simplification for stating welding robot includes：Being used on the process detail, reservation base (1) bottom surface in removal base (1)
The bolt hole and grid division of carrying.
7. the method for simplifying based on finite element analysis welding robot model according to claim 6, it is characterised in that
Grid at bolt hole is sized to 2-3mm when dividing the grid.
8. the method for simplifying based on finite element analysis welding robot model according to claim 6, it is characterised in that institute
State the process detail in removal base (1) specifically include chamfering and rounding are restored to right angle, the table top of deleting non-bearing and
Fabrication hole.
9. the method for simplifying based on finite element analysis welding robot model according to claim 1, it is characterised in that institute
The bearing simplification for stating welding robot includes：The rigidity of robot and the bearing of bearing capacity will not influenceed to remove；Machine will be influenceed
The rigidity of device people and the bearing of bearing capacity are reduced to mass spring unit, and the quality of the bearing is evenly distributed into particle bullet
The two ends of spring unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611218659.XA CN106802979B (en) | 2016-12-26 | 2016-12-26 | Finite element analysis based welding robot model simplification method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611218659.XA CN106802979B (en) | 2016-12-26 | 2016-12-26 | Finite element analysis based welding robot model simplification method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106802979A true CN106802979A (en) | 2017-06-06 |
| CN106802979B CN106802979B (en) | 2020-09-22 |
Family
ID=58984152
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611218659.XA Active CN106802979B (en) | 2016-12-26 | 2016-12-26 | Finite element analysis based welding robot model simplification method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106802979B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110795876A (en) * | 2019-10-23 | 2020-02-14 | 珠海格力智能装备有限公司 | Method for establishing finite element equivalent model of speed reducer |
| CN110837708A (en) * | 2019-11-05 | 2020-02-25 | 珠海格力智能装备有限公司 | Simulation checking method of robot, storage medium and processor |
| CN112487564A (en) * | 2019-09-10 | 2021-03-12 | 北京精雕科技集团有限公司 | Optimization design method for turntable bottom plate |
| CN112800557A (en) * | 2021-01-30 | 2021-05-14 | 埃夫特智能装备股份有限公司 | Topological optimization method for transition plate of speed reducer of industrial robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6544012B1 (en) * | 2000-07-18 | 2003-04-08 | George H. Blume | High pressure plunger pump housing and packing |
| CN101704247A (en) * | 2009-11-12 | 2010-05-12 | 河南工业大学 | Amphibious bionic variable magnetism sucker |
| CN103810307A (en) * | 2012-11-08 | 2014-05-21 | 史树元 | CAD (computer aided design)-based complicated mechanical design method |
| CN104484511A (en) * | 2014-12-02 | 2015-04-01 | 深圳控石智能系统有限公司 | Simulation analysis based dynamic characteristic design method for robot structures |
| CN105184031A (en) * | 2015-11-04 | 2015-12-23 | 上海无线电设备研究所 | Lightweight design method for arm structure of assembly robot |
| CN105269049A (en) * | 2015-11-28 | 2016-01-27 | 沈阳飞机工业（集团）有限公司 | Allowance-free numerical-control method for aircraft skin |
| US9339169B2 (en) * | 2011-12-03 | 2016-05-17 | The Regents of University of Colorado, a body Corporate | Robotic capsule endoscope for minimally invasive surgical procedures, micro-patterned treads for friction enhancement of a robotic capsule endoscope in a biological environment, and process for fabrication of micro-treads |
| CN106202666A (en) * | 2016-07-01 | 2016-12-07 | 大连理工大学 | A kind of computational methods of marine shafting bearing adjustment of displacement |
-
2016
- 2016-12-26 CN CN201611218659.XA patent/CN106802979B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6544012B1 (en) * | 2000-07-18 | 2003-04-08 | George H. Blume | High pressure plunger pump housing and packing |
| CN101704247A (en) * | 2009-11-12 | 2010-05-12 | 河南工业大学 | Amphibious bionic variable magnetism sucker |
| US9339169B2 (en) * | 2011-12-03 | 2016-05-17 | The Regents of University of Colorado, a body Corporate | Robotic capsule endoscope for minimally invasive surgical procedures, micro-patterned treads for friction enhancement of a robotic capsule endoscope in a biological environment, and process for fabrication of micro-treads |
| CN103810307A (en) * | 2012-11-08 | 2014-05-21 | 史树元 | CAD (computer aided design)-based complicated mechanical design method |
| CN104484511A (en) * | 2014-12-02 | 2015-04-01 | 深圳控石智能系统有限公司 | Simulation analysis based dynamic characteristic design method for robot structures |
| CN105184031A (en) * | 2015-11-04 | 2015-12-23 | 上海无线电设备研究所 | Lightweight design method for arm structure of assembly robot |
| CN105269049A (en) * | 2015-11-28 | 2016-01-27 | 沈阳飞机工业（集团）有限公司 | Allowance-free numerical-control method for aircraft skin |
| CN106202666A (en) * | 2016-07-01 | 2016-12-07 | 大连理工大学 | A kind of computational methods of marine shafting bearing adjustment of displacement |
Non-Patent Citations (3)
| Title |
|---|
| 张广鹏等: "《工业机器人整机结构方案的动态性能评价》", 《西安理工大学学报》 * |
| 程丽等: "《165kg焊接机器人有限元模态分析》", 《机械设计与制造》 * |
| 赵汝嘉: "《机械结构有限元分析》", 31 March 1990, 西安交通大学出版社 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112487564A (en) * | 2019-09-10 | 2021-03-12 | 北京精雕科技集团有限公司 | Optimization design method for turntable bottom plate |
| CN112487564B (en) * | 2019-09-10 | 2023-11-21 | 北京精雕科技集团有限公司 | Optimal design method of turntable bottom plate |
| CN110795876A (en) * | 2019-10-23 | 2020-02-14 | 珠海格力智能装备有限公司 | Method for establishing finite element equivalent model of speed reducer |
| CN110837708A (en) * | 2019-11-05 | 2020-02-25 | 珠海格力智能装备有限公司 | Simulation checking method of robot, storage medium and processor |
| CN110837708B (en) * | 2019-11-05 | 2023-10-27 | 珠海格力智能装备有限公司 | Simulation checking method of robot, storage medium and processor |
| CN112800557A (en) * | 2021-01-30 | 2021-05-14 | 埃夫特智能装备股份有限公司 | Topological optimization method for transition plate of speed reducer of industrial robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106802979B (en) | 2020-09-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106802979A (en) | Based on finite element analysis welding robot Model Simplification Method | |
| CN104200122B (en) | Fatigue life forecasting method for complicated welding structure in random vibration condition | |
| CN104573392B (en) | A kind of welding spot fatigue Forecasting Methodology | |
| CN108052760A (en) | A kind of gear pair nonlinear kinetics computational methods | |
| CN104778377B (en) | A kind of natural frequencies analysis method for combining Beam Vibration | |
| CN106354954B (en) | A kind of three-dimensional mechanical Modal Analysis analogy method based on hierarchical basis functions | |
| CN109634111A (en) | A kind of high-speed overload Robotic Dynamic Method for Calculating Deformation | |
| CN107292005A (en) | A kind of track traffic current transformer vibration optimization method based on Modes Decoupling technology | |
| Chu et al. | Multi-objective topology optimization for industrial robot | |
| Zhang et al. | An exact Fourier series method for vibration analysis of elastically connected laminated composite double-beam system with elastic constraints | |
| CN106197564A (en) | A kind of being applicable to identifies the method and system connecting Complexed Prostate Specific Antigen | |
| CN206056652U (en) | A kind of system suitable for identification connection Complexed Prostate Specific Antigen | |
| Gasparetto | On the modeling of flexible-link planar mechanisms: experimental validation of an accurate dynamic model | |
| Ma et al. | Natural vibration of a beam with a breathing oblique crack | |
| Luo et al. | Rigid-flexible coupling dynamics simulation of 3-RPS parallel robot based on ADAMS and ANSYS | |
| CN103217924A (en) | Dynamics modeling method of over-constrained heavy parallel machine tool applied to real-time control | |
| CN105042961B (en) | The horizontal pipeline and its determination method for parameter of liquid separator of compressor | |
| CN107092730A (en) | Suitable for the three-dimensional infinite element Artificial Boundaries method for building up of Explicit Analysis | |
| Yang | Oscillation in electric power steering test torque due to universal joint angle and control strategy | |
| Feng et al. | A novel adaptive balance-drive mechanism for industrial robots using a series elastic actuator | |
| Duan et al. | Rigid-flexible coupling dynamics of a flexible robot with impact | |
| Guan et al. | Finite element analysis of five-axis gantry milling machine main structure | |
| Wang et al. | Element size effect on the analysis of heavy-duty machine cross-rail | |
| Wang et al. | Development of Sheet Palletizing Manipulator Based on Multi-link Mechanism | |
| CN106969895A (en) | The bridge beam of small yardstick three buffering vibration-isolating platform and design method based on magnetorheological bearing damper |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |