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畢 業(yè) 設 計 任 務 書
1．畢業(yè)設計的任務和要求：
1.1 了解所測彈體零件的結構特征；
1.2 熟悉和掌握目標彈體零件各待測尺寸的測量原理和方法；
1.3 根據(jù)選定的測量方法和原理，設計出相應的控制系統(tǒng)（包括氣、液路控制、電路控制等）；
1.4編制原理圖，控制邏輯圖，選定控制設備，編輯控制程序；
1.5 要求：系統(tǒng)簡單易行，工作可靠。
2．畢業(yè)設計的具體工作內容：
2.1確定彈體零件尺寸測量采用的基本原理和方法；
2.2完成控制系統(tǒng)的整體搭建，選定控制方法，元件；
2.3完成控制系統(tǒng)原理圖的繪制；
2.4 完成控制程序的編制；
2.5 完成程序的驗證。
畢 業(yè) 設 計 任 務 書
3．對畢業(yè)設計成果的要求：
3.1 提交畢業(yè)設計開題報告和說明書各一份；
3.2 提供氣動系統(tǒng)原理圖和布局圖；
3.3 所設計控制系統(tǒng)的控制原理圖；
3.4 提交相關內容的外文翻譯一份。
4．畢業(yè)設計工作進度計劃：
起 迄 日 期
工 作 內 容
2016年
2月29日 ~ 3月26日
3月27日 ~ 5月28日
5月29日 ~ 6月 5 日
資料收集、方案設計、開題報告撰寫；
結構設計、控制系統(tǒng)設計、畢業(yè)設計說明書撰寫；
資料整理、打印、論文提交、評閱、答辯。
學生所在系審查意見：
同意下發(fā)任務書
系主任：
2016年 2月 29 日
Novel Design and 3-D Printing of Nonassembly Controllable Pneumatic Robots
Abstract—Additive manufacturing (known as 3-D print-ing to the public) technologies are capable of fabricating mechanical parts without the limitation of geometric complexity. If properly designed, a mechanism can also be automatically fabricated without the need of assembly. Considering these capabilities of 3-D printing, this paper presents a novel pneumatic robot design that can be fabricated by 3-D printing processes without the need of assembly. The key element of the proposed robot is the innovative design of a pneumatic stepper motor that allows control of multi motion pattern modes. The proposed pneumatic stepper design is based on a fan motor, thus, having a low requirement on airtightness, which makes it possible for 3-D printing fabrication. For angular motion control, a roller valve is added to the fan motor design. By controlling the air pressure of the roller valve, continuous motion and stepping motion can be obtained. Experiments have shown that the angular velocity can also be controlled by varying the roller-valve air pressure. The effectiveness of the proposed concepts has been demonstrated by a 3-D printed nonassembly pneumatic robot. The printed robot, when connected with air tubes and a pneumatic controller, can perform simple pick and place operations. It is argued that the future functional nonassembly pneumatic robotic systems could be 3-D printed for relevant industries.
Neumatic actuation is widely used in industrial application for its low cost, compact size, high power to weight ratio, reliability and security. In some cases, pneumatic actuation is even preferable to electric ones, especially in medical applications, such as magnetic resonance medical imaging equipment and high-risk environments like inflammable gas vessels or pipes. Some classic pneumatic actuatious, rotary or linear, have been fully developed . However, such classic actuations have high requirement on air impermeability and precision of fabrication and assembly, which increase the production time and cost. In addition, the error resulted from fabrication and assembly process may lead to a reduced precision in controlled.
One of the key pneumatic actuators in pneumatic systems is the pneumatic stepper motor. Recent effort has been concentrating on developing more accurate pneumatic stepping motors, or stepper motor that is compliant to magnetic resonance imaging (MRI) environment. From the literature, four types of pneumatic stepper motors have been proposed. Stoianovici et al., developed a MRI compliant stepper motor called PneuStep, whose resulting step size could reach 3.33° (angular) and 0.055 mm (linear). The working principle of PneuStep . The main structures are composed of three diaphragm cylinders, a set of internal gears, and output cranks. The ring gear is fixed, while the outer gear is connected to an output shaft. The motor is able to act in stepper mode by sequentially actuating the three diaphragm cylinders. another type of stepper motor developed by Masamune et al. The motor is composed of three pistons within their respective syringes and two types of gears: a rotational gear and three direct acting gears. There is a certain stagger angle be-tween the rotational gear and the direct acting gear. Every time the acting gear moves up and contacts the rotational gear, the rotational gear will rotate a certain stepper angle to couple with the acting gear. Therefore, the motor could constantly output stepper motion by sequenced cooperation of the three acting gears. The stepper developed by Chen et al. adopts similar principles, but has the smallest size among all these pneumatic stepper motors with only 10 mm in diameter. However, these reported stepping motors rely on either the inter meshing inter-action of different sets of gears, or the cooperation of the linear motion of piston crank and linkage mechanism to realize the stepping motion, which requires precision manufacturing and assembly. Another novel design proposed by Chen et al.refers to the principle of two stroke engine. The use of crank transforms the linear motion of the two coupled pistons to rotational motion of the output shaft. The actuation system can rotate 3.6? in each step. Compared with the previous designs, this concept greatly simplifies the working principle and mechanical design of conventional pneumatic stepper motor. However, the main disadvantage of these stepping motors is speed discontinuity and vibration. In many cases, it is desirable if a motor can switch motion patterns between continuous mode and stepping mode. The latest design proposed by Chen et al. is able to output continuous rotation according to its working principle, which is similar to a vehicle engine. But it requires a precise control on the cooperation of two pistons and the design is quite complicated. An unsuccessful control strategy may result in a very large torsional torque on the crank which may cause great damage. All the above stepper motor designs have complex mechanisms, making them unsuitable for 3-D printing.
Additive manufacturing, known as 3-D printing to the public, is a fabrication method where physical objects are constructed layer by layer , As opposed to conventional method, 3-D printing can fabricate parts and mechanisms directly from the computer-aided design model, regardless of the shape complexity. Due to this property, 3-D printing technologies can greatly shorten the product design circle, save time and cost, and provide access to early verification of product designs,. In traditional manufacturing processes, individual parts have to be fabricated first, and then, assembled into final mechanisms which are time and money consuming. Moreover, the assembly process requires high accuracy. Otherwise, the final mechanism can easily get stuck and fail to work due to inappropriate positions and match-up of move able parts. On the contrary, 3-D printing allows one-step fabrication of complex mechanisms, such as multi links and multi articulated mechanisms without the need of any assembly of components. It has a great potential to change the way how mechanisms and robotic systems are currently designed and built.
Three-Dimensional printing of nonassembly mechanisms and robotic systems has been researched for quite a long time. Many different 3-D printing processes are applied to fabricate robotic mechanisms. Fused deposition modeling was used by Gosselin et al., to build several mechanisms, such as parallel manipulator. These rapidly printed mechanisms required further assembly of mechanism parts. Cutkosky et al., at Stanford University used shape deposition manufacturing , to develop a flexible joint with embedded components. These components were inserted to the mechanism during its fabrication as an integrated process rather than post fabrication assembly. However, such process is challenging, because it requires high surface quality and geometric accuracy of the contact areas, and precise positioning and fix turing of embedded components. These requirements brought extra complexities and difficulties into the design and fabrication process. Mavroidis et al., had contributed to building nonassembly robotic system with embedded parts, such as robotic hand and radio-controlled vehicle.Their works advance the development of one-step fabrication of fully functional, multi articulated mechanism with embedded components. However, the requirement of accurate insertion of the embedded components is still a tough problem that makes AM less cost-effective, and is only applicable to selected applications. Chen et al., at the University of Hong Kong focus on the shape optimization and analysis of nonassembly joint mechanisms using different 3-D printing techniques . These works provide alternative ideas of 3-D printing tolerance-tight mechanisms. They also contributed to the novel design of nonassembly mechanisms and systems. However, they did not take mechanism actuation into consideration. The automated fabrication of nonassembly, fully functional mechanism is by now still the dream of researchers in the 3-D printing community. New AM processes or AM compatible processes that support 3-D printing of functional materials is under active research, because functional materials may potentially be designed to function as actuators. Such actuators might be printed through layered manufacturing during fabrication. However, such multi material 3-D printers are still under research. Overall, it is highly desirable to print the actuators in situ the robotic mechanism printing process.
To the best knowledge of the authors, the proposed research reported in this paper is the first automatically 3-D printed robotic mechanisms without the need of assembly, or embedding other actuating components. The 3-D printed robot can plug (to a controller) and play (pick and place). This paper demonstrates a new effort to fabricate a fully functional nonassembly robot without any inserts, such as mechanical connecting pins and electronic actuators. The proposed effort is based on pneumatic actuation. The usage of a pneumatic actuator as the prime mover can effectively eliminate the insertion of circuits and electronic parts for robotic actuation. Since the proposed pneumatic robot is entirely made of polymer material that is nonmagnetic and dielectric, it has great potential in applications where electricity is not allowed or preferred, such as working in MRI equipment or working in high risk environments like inflammable gas vessels or pipes. Because previous pneumatic stepper mo-tors are designed with a large amount of assembly and material combination in mind, they cannot be used in this research. In this research, an innovative roller-valve-based pneumatic step-per motor design is proposed. The proposed design can be easily integrated into a robotic mechanism and fabricated without the need of assembly. In addition, unlike previously reported pneumatic stepper motors that have speed limitation and speed discontinuity problems, the proposed pneumatic stepper motor design allows velocity control, and the switch between continuous motion mode and stepping mode. Even though only a simple robotic mechanism is presented in this paper, it is hoped that this early research might arouse interest in 3-D printing of nonassembly and fully functional pneumatic robots. Furthermore, we are confident that the proposed concept of the nonassembly robotic design and fabrication based on 3-D printing can bring new in-sight into design innovation of various robots, such as household robots, industrial robots, and so on.
Three-dimensional printing technology has many advantages. The simple articulated joint requires at least three parts: link 1, link 2, and the hinge pin. These three parts have to be manufactured individually with different machine tools, and an extra assembly process is required. On the contrary, 3-D printing needs only digital assembly by making provision of a clearance between parts with relative motion. The digitally assembled model is constructed layer by layer. This 3-D printed nonassembly joint clearly shows the reduction in the component number and the elimination of post assembly. Such reduction and simplification not only save cost and raise efficiency, but also improve the stability and reliability of the mechanism. Three-dimensional printing has made great improvements in terms of manufacturing accuracy, material property, surface quality, hardness, toughness, and part durability over the years. These improved features make 3-D printing of nonassembly fully functional devices more and more attractive.
The design and development of functional mechanisms and robotic systems that can be fabricated without the need of assembly is very attractive .conceptual diagram of PneuStep, the first pneumatic stepper designed by Stoianovici et al. It consists of four main parts that are represented by different colors in Fig. 3. The step motion is achieved by sequentially pressurizing three diaphragm cylinders as D1–D2–D3. Al-though PneuStep has great performance, its design complexity leads to a high manufacturing cost and long development cycle time. The motor design has more than 25 different parts. The assembly of the individual parts together with fasteners, bearings, and connectors is not an easy task. The application of three crank mechanisms to produce planetary motion requires precise fabrication and assembly. Otherwise, it is more likely to result in interference between moving parts, which can lead to motor failure.
非組裝機制可控氣動機器人新穎的設計和三維印刷
摘要：增材制造業(yè)(稱為三維打印技術)技術能夠制造機械零件，沒有幾何復雜性的限制。如果設計得當,也可以自動的機制不需要組裝制造。考慮到這些三維打印的功能,本文提出一種新穎的氣動機器人設計可以通過三維印刷制作過程不需要組裝的關鍵要素,提出了機器人創(chuàng)新設計的氣動控制步進電機,使多運動模式的模式。該氣動步進設計是基于一個風扇電機,因此,在密封性要求較低,這使得有可能3 d印刷制作。角運動控制輥閥被添加到風扇電機的設計。通過控制輥的空氣壓力閥,可以獲得連續(xù)運動和步進運動。實驗表明,角速度也可以由不同滾動閥空氣壓力。提出了概念并證明了三維打印氣動機器人有效性。印刷的機器人,當與空氣管和氣動控制器,可以執(zhí)行簡單的選擇和地點操作。認為未來氣動機器人系統(tǒng)3 d印刷可以應用于相關行業(yè)。
氣動驅動廣泛用于工業(yè)，低成本、小體積、高功率,可靠性和安全性。在某些情況下,氣動驅動甚至比電動的也多,特別是在醫(yī)學應用,如核磁共振醫(yī)療成像設備和高風險環(huán)境如易燃氣體容器或管道。一些經(jīng)典的氣動驅動、旋轉或直線,已經(jīng)發(fā)育完全。然而,這樣的經(jīng)典動作要求高氣密性和制造和裝配精度,增加了生產時間和成本。此外,由于制造和裝配過程可能導致控制精度降低。
在氣動系統(tǒng)的關鍵是氣動執(zhí)行機構，就是氣動步進電機。最近集中精力發(fā)展更精確的氣動步進電機或步進電機用于磁共振成像的環(huán)境。從一些文獻中看到提出了氣動步進電機的四種類型。一種叫做PneuStep核磁共振兼容的步進電機,其步長可以達到3.33°(角)和0.055毫米(線性)。PneuStep的的主要結構是由三個氣缸膜片,一組內部齒輪和輸出曲柄。外齒輪齒圈固定,而連接到一個輸出軸。電機能夠在步進順序模式驅動三個氣缸膜片。另一種類型的步進電機馬達由三個活塞在各自的注射器和兩種類型的齒輪:一個旋轉裝置和三個直接傳動的齒輪。有一定的交錯角之間的轉動齒輪直接傳動的齒輪。每次齒輪移動和接觸轉動齒輪,轉動齒輪會轉動一個步進角。因此,電動機可以通過測序不斷輸出步進運動的三個齒輪。開發(fā)的步進電機采用相似的原理,但最小的大小在所有這些氣動步進電機只有10毫米直徑。然而,這些報道步進電動機依靠不同的齒輪互相嚙合的相互作用,或合作的線性運動活塞曲柄和連桿機制實現(xiàn)步進運動,這需要精密制造和組裝。陳等人提出的另一個新穎的設計指的是二沖程發(fā)動機。使用曲柄將兩個耦合的活塞的直線運動轉換為輸出軸的旋轉運動。驅動系統(tǒng)可以每一步旋轉3.6°。與前面的設計相比,這個概念極大地簡化了傳統(tǒng)氣動工作原理和機械設計的步進電機。然而,這些步進電機的主要缺點是速度不連續(xù)和振動。在許多情況下,它是可取的,如果電機開關運動模式之間的連續(xù)模式和步進模式。陳等人提出的最新設計是能夠輸出連續(xù)旋轉根據(jù)其工作原理,這是類似于一個汽車引擎。但它需要一個精確的控制兩個活塞和設計上的合作相當復雜。一次不成功的控制策略可能會導致一個非常大的扭轉力矩的曲柄可能會導致巨大的損失。上述所有步進電機設計復雜的機制,使他們不適合三維印刷。
增材制造,稱為三維印刷,是一種制造方法,在物理對象是一層一層地建造。與傳統(tǒng)方法,三維打印可以制造部分直接從計算機輔助設計模型和機制,無論形狀的復雜性。由于這個屬性,三維打印技術可以大大縮短產品設計圈,節(jié)省時間和成本,并提供訪問驗證產品設計的早期,在傳統(tǒng)的生產過程中,各個部分必須的第一,然后組裝成最終的機制是耗費時間和金錢。此外,裝配工藝要求精度高。否則,最后機制很容易卡住,不能工作由于不恰當?shù)奈恢煤拖嗯涞目梢苿拥牟糠?。相?3 d印刷允許一步制造復雜的機制,如多鏈路和多鉸接機制不需要任何組件的裝配。它有一個巨大的潛力,改變目前機制和機器人系統(tǒng)是如何設計和建造。
三維打印非組裝機制和機器人系統(tǒng)已經(jīng)被研究了很長一段時間。許多不同的三維印刷過程應用于制造機器人機制。用熔融沉積造型技術,建立幾種機制,如并聯(lián)機械手。這些快速印刷機制需要進一步組裝機制部分。斯坦福大學使用形狀沉積制造,開發(fā)一個靈活的關節(jié)與嵌入式組件。這些組件被插入到機制在其制造作為一個集成的過程而不是制造裝配。然而,這樣的過程是具有挑戰(zhàn)性的,因為它需要較高的表面質量和幾何精度的接觸區(qū)域,嵌入式組件的精確定位和夾具。這些需求帶來額外的復雜性和困難在設計和制造過程。Mavroidis 等人設計非組裝機制機器人系統(tǒng)預埋件,如機械手和無線電控制車輛。他們的工作推進一步法制造的全功能的發(fā)展,多與嵌入式組件的機制。然而,準確的插入嵌入式組件的需求仍然是一個棘手的問題,讓我更少的成本效益,并只適用于選定的應用程序。香港大學的關注非組裝機制聯(lián)合機制的形狀優(yōu)化和分析使用不同的三維打印技術。這些作品提供替代的想法三維印刷公差緊機制。他們也促成了非組裝機制機制和系統(tǒng)的設計。然而,他們并沒有考慮驅動機制。非組裝機制自動化制造,功能齊全的機制現(xiàn)在仍然在三維印刷人員的夢想社區(qū)。新是過程還是兼容的過程支持3 d打印功能材料的研究很活躍,因為功能材料可能被用來作為執(zhí)行機構。這種執(zhí)行機構可能通過分層印刷生產制造期間。然而,這樣的復合材料3 - d打印機仍在研究中?？偟膩碚f,這是非?？扇〉拇蛴◎寗悠髟粰C器人印刷過程的機制。
針對知名的設計師,本文提出研究報告是自動三維印刷機械機制不需要組裝,或嵌入其他驅動組件。3 d印制機器人可以插頭(控制器)和播放(選擇和地點)。本文演示了一種新的努力制造一個功能齊全的非組裝機制機器人沒有插入,如機械連接插腳和電子執(zhí)行器。擬議的工作是基于氣動驅動。氣壓傳動裝置作為原動力的使用可以有效地消除電路和電子零件的插入機械驅動。自提出氣動機器人完全是由非磁性的高分子材料和介質,它有巨大的潛力在電力的應用程序是不允許或首選,如在MRI設備或在高危環(huán)境下工作,如易燃氣體容器或管道。因為之前的氣動設計步進電機與大量的組裝和材料組合,他們不能被用于這項研究。在本研究中,基于創(chuàng)新的滾子閥的氣動設計提出了步進電機。提出設計可以很容易地集成到一個機器人機制和捏造不需要組裝。此外,與之前報道的氣動步進電機的速度限制和速度不連續(xù)問題,提出氣動步進電機設計允許速度控制和連續(xù)動作模式和步進模式之間切換。盡管只有一個簡單的機器人機制提出了,希望這個早期研究可能引起興趣非組裝機制和功能齊全的氣動機器人的三維印刷。此外,我們相信,非組裝機制機械設計和制造的概念提出基于三維印刷設計創(chuàng)新可以帶來新的見解不同的機器人,如家用機器人、工業(yè)機器人等。
三維印刷技術有許多優(yōu)點。簡單的鉸接接頭至少需要三個部分:鏈接,鏈接2,鉸鏈銷。這三個部分分別與不同的機床制造,和一個額外的裝配過程是必需的。相反,3 d印刷只需要數(shù)字大會通過提供與相對運動部件之間的間隙。數(shù)字化裝配模型是一層一層地建造。這個3 d印刷非組裝機制聯(lián)合清楚地顯示了減少組件數(shù)量和消除后組裝。減少和簡化不僅節(jié)省成本和提高效率,也提高了穩(wěn)定性和可靠性的機制。三維印刷有了很大改進的制造精度,材料屬性、表面質量、硬度、韌性,和持久性。這些改進的功能使三維印刷非組裝機制功能齊全的設備越來越有吸引力。
功能機制和機器人系統(tǒng)的設計和開發(fā),可以設計不需要組裝是很有吸引力的。Stoianovici等人設計的第一個氣動步進機由四個主要部分組成,步驟順序運動是通過加壓D1-D2-D3三個氣缸膜片。盡管PneuStep強大的性能,它的設計復雜性導致生產成本高,開發(fā)周期長。電機設計有超過25個不同的部分。組裝各個部分的緊固件,軸承,連接器不是一項容易的任務。三曲柄的應用機制產生行星運動需要精確的制造和裝配。否則,它更有可能導致移動部件之間的干擾,從而導致發(fā)動機故障。