![](http://nfs.gongkong.com/Upload/trade/201512/20151221135949408_w.jpg)
- 型号:BENTLY NEVADA 17017205000
- 数量:10
- 制造商: 厦门兴锐达自动化设备有限公司
- 有效期:2019/2/1 0:00:00
BENTLY NEVADA 2201/02-02 USPP 22010202
Bently Nevada 3300/03 System Monitor Serial Data Interface 3300/03-02-00 PLC
BENTLY NEVADA 102046-50 USPP 10204650
BENTLY NEVADA 72851-53-04-01-01-01-01-01-15 USPP 7285153040101010
BENTLY NEVADA 3500/05-01-02-00-00-01 USPP 3500050102000001
BENTLY NEVADA 72311-03-04-05-05-03-15 USPP 7231103040505031
BENTLY NEVADA 3500/42M M2 PROXIMITOR/SEISMIC MONITOR I/O MODULE B477014
NEW BENTLY NEVADA 128240-01 3500 PROXIMITOR/SEISMIC MONITOR I/O MODULE B477021
NEW BENTLY NEVADA 3500/42M M2 PROXIMITOR/SEISMIC MONITOR MODULE D466925
Bently Nevada 3300/05 8-Slot Chassis Rack
BENTLY NEVADA 17017205000
BENTLY NEVADA 72027-03F USPP 7202703F
BENTLY NEVADA 72351-00-00-02-01-01-01 USPP 7235100000201010
BENTLY NEVADA 72351-00-00-02-01-03-01 USPP 7235100000201030
BENTLY NEVADA 72311-03-04-04-01-03-15 USPP 7231103040401031
BENTLY NEVADA 3300/10-02-02-00 NSPP 330010020200
BENTLY NEVADA 72200-02-02-05-01-01-01 USPP 7220002020501010
BENTLY NEVADA 3300/14-01-20-01 NSPP 330014012001
BENTLY NEVADA 17017205000
关节速度约束关系主从臂末端执行器的线速度和角速度与关节速度的关系由雅可比矩阵/(<0表示当从臂自由度n=3(对平面),或6(对空间),且从臂处于非奇异状态时,从臂有冗余度时双臂轴孔装配的控制器设计根据前面所述,双臂轴孔装配的控制器设计为分级控制,控制器原理图如所示在管理层主要完成对主臂的运动规划、主臂关节速度的预估和从臂关节角的递推算法。执行层完成关节一级的对关节角的控制。中,是管理级为主臂规划的主臂末端执行器在工作空间内的运动速度,是从臂期望关节角速度,是实际的主臂关节角速度,P2是实际的从臂末端执行器位置。
3仿真实例以平面二个3D0F操作臂为例,有关结构参数如所示。对左操作臂Rob1,末端执行器位置矩阵为:X0.4=0.8;第一个连杆的长度a0=0.3;第二个连杆的长度al=0.3;第三个连杆的长度a2=0.15;左臂初始位置关节变量值:e右臂初始位置关节变量值:e1管理级所规划的在每个采样间隔内,左臂末端执行器在工作空间内运动的距离deltaP=‘。
以下对两种情况进行了仿真:两臂末端连杆坐标系原点间的绝对距离两臂末端连杆坐标系原点相对运动的速度两臂末端连杆坐标系原点间的绝对距离两臂末端连杆坐标系原点相对运动的速度在运动过程中,限定左右末端执行器的方位分别为0°和180°,即没有平面内的转动。①与②的主要区别在于两臂末端相对运动的速度不一样。在图件,由于左右臂末端运动的绝对速度都是0.001,所以两者装配的接触点在中间坐标系X0Y的x =0的直线上。而在中,由于设定的相对速度大些,右臂末端的运动速度要比左臂末端的快0.0005,两者装配的接触点在中间坐标系X0Y左侧的直线上。
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BENTLY NEVADA 3300/35-02-01-02-00-00 USPP 3300350201020000
Bently Nevada Differential Expansion Monitor 3300/45-XX-XX-01-00 PLC 82803-01
BENTLY NEVADA 72350-05-06-02-03-01-15 USPP 7235005060203011
BENTLY NEVADA 72471-B NSPP 72471B
BENTLY NEVADA 72471-BC NSPP 72471BC
BENTLY NEVADA 7203953-01 USPP 720395301
BENTLY NEVADA 17017205000
BENTLY NEVADA 3300/35-03-02-02-00-00 NSPP 3300350302020000
BENTLY NEVADA 3300/55-01-01-02-02-01-00-01-01 NSPP 3300550101020201
BENTLY NEVADA 3500 133292-01 F
BENTLY NEVADA 3500/60 USPP 350060
BENTLY NEVADA 18745-03 USPP 1874503
BENTLY NEVADA 3300/20-02-01-02-00-00-00 USPP 3300200201020001
BENTLY NEVADA 72851-04-04-02-01-01-00-01-15 USPP 7285104040201010
BENTLY NEVADA 17017205000
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