期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2004
卷号：1
期号：4
DOI：10.5772/5818
出版社：SAGE Publications
摘要：In order to compensate the disadvantages of conventional engraving machine and exert the advantages of parallel mechanism, a novel parallel engraving machine is presented and some key technologies are studied in this paper. Mechanism performances are analyzed in terms of the first and the second order influence coefficient matrix firstly. So the sizes of mechanism, which are better for all the performance indices of both kinematics and dynamics, can be confirmed and the restriction due to considering only the first order influence coefficient matrix in the past is broken through. Therefore, the theory basis for designing the mechanism size of novel engraving machine with better performances is provided. In addition, method for tool path planning and control technology for engraving force is also studied in the paper. The proposed algorithm for tool path planning on curved surface can be applied to arbitrary spacial curved surface in theory, control technology for engraving force based on fuzzy neural network(FNN) has well adaptability to the changing environment. Research on teleoperation for parallel engraving machine based on B/S architecture resolves the key problems such as control mode, sharing mechanism for multiuser, real-time control for engraving job and real-time transmission for video information. Simulation results further show the feasibility and validity of the proposed methods.
关键词：parallel mechanism ; engraving machine ; influence coefficient ; performance indices ; tool path planning ; force control ; fuzzy neural network ; teleoperation
