卡萨布兰卡市鸿栢科技(science and technology)全新智

作者: 体育教育  发布:2019-11-25

产物简要介绍:

Company’sstate-of-the-art motors and drives ensure safety and reliability onrecord-setting gondola system for Germany’s highest mountain

  该成品采纳精密行星滚柱丝杆传动技艺,内置无刷伺性格很顽强在艰难险阻或巨大压力面前不屈电机,适用于全数低、中、高端质量须要的移位调整种类。该产物将安置无刷伺服电机与滚柱丝杆传动结构融为黄金时代体,伺服电机转子的转动运动一直通过滚柱丝杠机构转化为推杆的直线运动。该付加物可依靠客商的需要开展本性化定克服务。

ZURICH --(BUSINESS WIRE) --

  The product uses precision planetary roller screw drive technology, built-in brushless servo motor,applicable to a low,medium and high-level performance motion control system. The product will be built integrated brushless servo motor and ball screw drive structure, servo motor rotor rotary motion into linear motion directly by putting a ball screw mechanism. The product can be customized according to customer demand for personalized service.

Long queueswaiting to ascend Germany’s tallest mountain may now be history. And that isnot the only thing historical about the new ABB-powered cable car system thatopened today and can take as many as 580 passengers an hour to the Zugspitze,the Bavarian Alps peak that is Germany’s highest.

出品特色:


This pressrelease features multimedia. View the full release here:http://www.businesswire.com/news/home/20171221005676/en/

1、品质优良,寿命长,维护花销低; 2、负载大,刚性好;

笔记

The cablewaybreaks three world records for a pendular, or hanging, cable car system: at 127meters, its steel column is the tallest, with 1,950 meters it overcomes thehighest elevation difference and with a total run of 3,213 meters from basestation to peak, it has the longest span.

3、发热量小,速度调整精度高; 4、结构紧密,外形姣好,应用范围广;

The systemreplaces the 50-year-old Eibsee cableway and will help overcome the Eibsee’snotoriously long waiting times by transporting nearly three times the number ofpassengers per hour.

5、安装灵活,易拆卸维修;

Making therecord-breaking new cableway feasible for the operator, Bayerische ZugspitzbahnBergbahn AG, is an array of innovative technology from ABB, which has extensiveexperience solving transportation challenges in the Alps.

主机总体品质参数 OVERALL TECHNICAL DATA

“InSwitzerland, most cableways and chairlifts use ABB motors and drives,’’ saysHans-Georg Krabbe, Chairman of the Board of ABB AG, Germany. “We are absolutelydelighted to contribute to such a unique project in Germany, too.’’

 

from 

Powerful

基本型号

Model

行程

Range

导程

Extent

最大载荷

Load

重量

Weight

HB IES-130

0-200mm

3mm/5mm/7.5mm

70KN

19KG

HB IES-100

0-200mm

3mm/5mm

16KN

11KG

HB IES-80

0-200mm

3mm/5mm

9KN

6.5KG

手臂的宏图限制:   20磅的最努力和30英寸磅的扭矩

twin-motor design

 

每种手部组件总共具备十七个自由度,何况由前臂,两个DOF腕部以致有着地点,速度和力传感器的十三个DOF手组成。

The demandsposed by the Bayerische Zugspitzbahn for trouble-free operation andavailability were particularly challenging, requiring a system capable ofoperating 365 days a year, regardless of wind and weather. In such a setting,safe and comfortable transport through the air depends on the perfect interplayof motors, drives and mechanics.

前臂的平底直径为4英寸,长度约8英寸,容纳全体十九台电机,

Pulling thegondolas such a long distance at steeps gradients of as much as 104 percent(about 46°) and a speed of 10.6 meter per second requires significant power,which is supplied by two 800-KW three-phase AC motors from ABB that are housedin the cableway’s Valley Station.

手部配备了肆十七个传感器(不包含触觉感测卡塔 尔(阿拉伯语:قطر‎。// 每种难点都配有嵌入式相对地方传感器,// 各样电机都配有增量式编码器。// 每一种导螺纹钢筋组件以至花招球关节连杆均被道具为应力传感器以提供力反馈。

ABB’s alpine

过去的手工业设计[4,5]应用了动用复杂滑轮系统或护套的腱索驱动装置,那二种装置在EVA空间意况中采取时都会产生深重的磨损和可信性难点。为了防止与肌腱有关的标题,手使用柔性轴将电力在此之前臂的电机传输到手指。使用Mini模块化导螺丝杆组件将柔性轴的旋转运动调换为手中的直线运动。结果是七个连贯而抓实的传动系。

legacy


Since the late19thcentury, ABB has built a lasting reputation for safe, reliableand energy-efficient transportation in the alpine region.

英文

In the case ofthe world-famous Jungfrau Railway, a 9-kilometer cog railway that beganoperation in 1912, ABB was responsible for the electrification that made theroute possible. Today, ABB technologies still ensure that the Jungfrau Railwaysafely carries more than a million passengers a year – even during heavysnowfalls – to the Jungfraujoch, which at 3,454 meters above sea level isEurope’s highest train station.

from 

And the world’ssteepest funicular railway recently went into operation in Stoos in the SwissAlps, a 1.7-kilometer route whose two 136-passenger cable cars are powered byhigh-efficiency electric motors designed and built by ABB. The company alsosupplied other key components for the system.

Robonaut’s hands set it apart from any previous space manipulator system. These hands can fit into all the same places currently designed for an astronaut’s gloved hand. A key feature of the hand is its palm degree of freedom that allows Robonaut to cup a tool and line up its long axis with the roll degree of freedom of the forearm, thereby, permitting tool use in tight spaces with minimum arm motion. Each hand assembly shown in figure 3 has a total of 14 DOFs, and consists of a forearm, a two DOF wrist, and a twelve DOF hand complete with position, velocity, and force sensors. The forearm, which measures four inches in diameter at its base and is approximately eight inches long, houses all fourteen motors, the motor control and power electronics, and all of the wiring for the hand. An exploded view of this assembly is given in figure 4. Joint travel for the wrist pitch and yaw is designed to meet or exceed that of a human hand in a pressurized glove. Page 2 Figure 4: Forearm Assembly The requirements for interacting with planned space station EVA crew interfaces and tools provided the starting point for the Robonaut Hand design [1]. Both power and dexterous grasps are required for manipulating EVA crew tools. Certain tools require single or multiple finger actuation while being firmly grasped. A maximum force of 20 lbs and torque of 30 in-lbs are required to remove and install EVA orbital replaceable units (ORUs) [2]. The hand itself consists of two sections (figure 5) : a dexterous work set used for manipulation, and a grasping set which allows the hand to maintain a stable grasp while manipulating or actuating a given object. This is an essential feature for tool use [3]. The dexterous set consists of two 3 DOF fingers (index and middle) and a 3 DOF opposable thumb. The grasping set consists of two, single DOF fingers (ring and pinkie) and a palm DOF. All of the fingers are shock mounted into the palm. In order to match the size of an astronaut’s gloved hand, the motors are mounted outside the hand, and mechanical power is transmitted through a flexible drive train. Past hand designs [4,5] have used tendon drives which utilize complex pulley systems or sheathes, both of which pose serious wear and reliability problems when used in the EVA space environment. To avoid the problems associated with tendons, the hand uses flex shafts to transmit power from the motors in the forearm to the fingers. The rotary motion of the flex shafts is converted to linear motion in the hand using small modular leadscrew assemblies. The result is a compact yet rugged drive train. Figure 5: Hand Anatomy Overall the hand is equipped with forty-two sensors (not including tactile sensing). Each joint is equipped with embedded absolute position sensors and each motor is equipped with incremental encoders. Each of the leadscrew assemblies as well as the wrist ball joint links are instrumented as load cells to provide force feedback. In addition to providing standard impedance control, hand force control algorithms take advantage of the non-backdriveable finger drive train to minimize motor power requirements once a desired grasp force is achieved. Hand primitives in the form of pre-planned trajectories are available to minimize operator workload when performing repeated tasks.

“Today, it isall about making advancements in terms of energy efficiency,” says UeliSpinner, Head of Sales, Key Accounts & Service ABB AG, Switzerland. “Butalso where support, maintenance and service are concerned, we are the preferredpartners of cableway operators.’’

ABB(ABBN: SIX Swiss Ex)


is a pioneering technology leader in electrification products, robotics and

译文

motion, industrial automation and power grids, serving customers in utilities,

from 

industry and transport & infrastructure globally. Continuing a more than

罗布onaut的手把它与原先的高空操纵器系统区分开来。这一个双臂能够装入如今为宇宙航银行职员的戴手套而规划的保有同生龙活虎的地点。手的一个关键特性是它的牢笼自由度,使得罗布onaut能够用壹个工具和长轴与前臂的自由度进行排列,进而允许工具在狭小的空间中以微小的胳膊运动使用。

125-year history of innovation, ABB today is writing the future of industrial

图3中所示的各样手部组件总共具备十五个自由度,何况由前臂,多少个DOF腕部以致全数地方,速度和力传感器的十个DOF手组成。前臂的底层直径为4英寸,长度约8英寸,容纳全部十八台电机,电机调节和电力电子器材,以致具备手持线路。图4交到了该器件的演讲图。手腕节距和偏航的八只路程被设计为在加压手套中达到或超越人口。

digitalization and driving the Energy and Fourth Industrial Revolutions. ABB

图4:前臂装配与安插的空间站EVA乘员接口和工具人机联作的必要为罗布onaut手的陈设提供了起源[1]。操纵EVA乘员组织工作具需求力量和灵活的抓握。某个工具必要单臂或多手指动作,同一时间压实。拆卸和安装EVA轨道可替换单元(ORU卡塔尔国需求20磅的最卖力和30英寸磅的扭矩[2]。

operates in more than 100 countries with about 136,000 employees.p;

手由两有些构成(图5卡塔 尔(阿拉伯语:قطر‎:三个用来操作的灵巧专门的职业组,以致贰个抓握组件,它同意手在支配或运行给定物体时保持安静的抓握。那是工具使用的基本特征[3]。灵巧套装由多少个3 DOF手指(食指和中指卡塔 尔(阿拉伯语:قطر‎和二个3 DOF可对折手指组成。抓握组由四个单DOF手指(无名氏指和小指卡塔 尔(阿拉伯语:قطر‎和一个手掌自由度组成。全部的指尖都棉被服装置在掌心上。为了协作宇航员戴初叶套的手的分寸,电机安装在手外,机械重力通过柔性传动系传递。

过去的手工业设计[4,5]使用了使用复杂滑轮系统或护套的腱索驱动装置,那二种装置在EVA空间意况中采纳时都会产生惨痛的破坏和可信赖性难点。为了制止与肌腱有关的问题,手使用柔性轴将电力早先臂的电机传输到手指。使用微型模块化导螺丝杆组件将柔性轴的转动运动调换为手中的直线运动。结果是三个牢牢而深厚的传动系。

图5:手部解剖由此可以知道,手部配备了肆15个传感器(不满含触觉感测卡塔 尔(英语:State of Qatar)。每一个接头都配有嵌入式绝对地方传感器,每个电机都配有增量式编码器。每个导螺丝杆组件以致花招球关节连杆均被武装为称重传感器以提供力反馈。除了提供规范阻抗调整之外,生机勃勃旦达到规定的规范梦想的抓力,手力调整算法利用非反向驱入手指驱动系统来节约电机能源消耗务求。预先规划的轨道方式的手原语可用于在实践重复任务时最大限度地减削操作员的职业量。


Design of the NASA Robonaut Hand R1

C. S. Lovchik, H. A. Aldridge RoboticsTechnology Branch NASA Johnson Space Center Houston, Texas 77058 Iovchik@jsc.nasa.gov, haldridg@ems.jsc.nasa.gov Fax: 281-244-5534

Abstract

The design of a highly anthropomorphichuman scale robot hand for space based operations is described. This fivefinger hand combined with its integrated wrist and forearm has fourteenindependent degrees of freedom. The device approximates very well thekinematics and required strength of an astronaut's hand when operating througha pressurized space suit glove. The mechanisms used to meet these requirementsare explained in detail along with the design philosophy behind them.Integration experiences reveal the challenges associated with obtaining therequired capabilities within the desired size. The initial finger controlstrategy is presented along with examples of obtainable grasps.

汇报了用于空间操作的可观拟人化的人类尺度机器人手的安顿性。那七个手指手与其构成的一手和前臂相结合,具有千克个单身的自由度。

该装置在经过加压式太空服手套操作时可充足好地肖似于宇宙航银行职员的手的运动学和所需的强度。详细分解了用来知足这么些需求的体制及其背后的兼备意见。集成经历揭露了与收获所需大小内的所需作用相关的挑衅。显示初叶手指调节计策以致可拿到的抓握的例证。

 1 Introduction

The requirements for extra-vehicularactivity (EVA) onboard the International Space Station (ISS) are expected to beconsiderable. These maintenance and construction activities are expensive andhazardous. Astronauts must prepare extensively before they may leave therelative safety of the space station, including pre-breathing at space suit airpressure for up to 4 hours. Once outside, the crew person must be extremelycautious to prevent damage to the suit. The Robotic Systems Technology Branchat the NASA Johnson Space Center is currently developing robot systems toreduce the EVA burden on space station crew and also to serve in a rapidresponse capacity. One such system, Robonaut is being designed and built tointerface with external space station systems that only have human interfaces.To this end, the Robonaut hand [1] provides a high degree of anthropomorphicdexterity ensuring a compatibility with many of these interfaces. Many groundbreaking dexterous robot hands [2-7] have been developed over the past twodecades. These devices make it possible for a robot manipulator to grasp andmanipulate objects that are not designed to be robotically M. A. DiftlerAutomation and Robotics Department Lockheed Martin Houston, Texas 77058 diftler@jsc.nasa.gov Fax: 281-244-5534 compatible. While several grippers [8-12] havebeen designed for space use and some even tested in space [8,9,11], nodexterous robotic hand has been flown in EVA conditions. The Robonaut Hand isone of several hands [13,14] under development for space EVA use and is closestin size and capability to a suited astronaut's hand.

前瞻国际空间站(ISS卡塔 尔(英语:State of Qatar)上的车外活动(EVA卡塔 尔(阿拉伯语:قطر‎供给至极可观。这一个保卫安全定协调建设活动是昂贵且危殆的。宇宙航银行人员必得在也许离开空间站的相持安全此前开展大面积的准备,富含预先呼吸太空性格很顽强在荆棘塞途或巨大压力面前不屈空气压力长达4钟头。风度翩翩旦在露天,机组职员必得特别审慎,防止范损坏宇宙航行性格很顽强在荆棘载途或巨大压力面前不屈。美利坚同盟军国家航空宇航局约翰逊航五月央的机器人系统才干处最近正值开拓机器人系统,以减小空间站人士的EVA担当,而且服务于连忙反应技术。二个如此的系列,罗布onaut正在规划和建筑,以便与唯有人机分界面包车型大巴外表空间站系统接口。为此,罗布onaut手[1]提供了惊人的比方灵巧性,以确定保证与数不清这几个接口的兼容性。在过去的七十年中,已经付出出累累破纪录的灵活机器人手[2-7]。这几个设备使得机器人操纵器能够吸引和决定未被规划为机器人的物体宽容。即便有几个夹具[8-12]规划用来空间应用,有个别以至在满小刑打开了测量试验[8,9,11],但未曾灵巧的机器人手在EVA条件下飞行。 罗布onaut手是空间EVA使用中正在开垦的六只手之后生可畏[13,14],它的尺寸和力量最相仿符合宇宙航银行职员的手。

 2 Design and Control Philosophy

The requirements for interacting withplanned space station EVA crew interfaces and tools provided the starting pointfor the Robonaut Hand design [1]. Both power (enveloping) and dexterous grasps(finger tip) are required for manipulating EVA crew tools. Certain toolsrequire single or multiple finger actuation while being firmly grasped. Amaximum force of 20 lbs. and torque of 30 in-lbs are required to remove andinstall EVA orbital replaceable units (ORUs) [15]. All EVA tools and ORUs mustbe retained in the event of a power loss. It is possible to either buildinterfaces that will be both robotically and EVA compatible or build a seriesof robot tools to interact with EVA crew interfaces and tools. However, bothapproaches are extremely costly and will of course add to a set of spacestation tools and interfaces that are already planned to be quite extensive.The Robonaut design will make all EVA crew interfaces and tools roboticallycompatible by making the robot's hand EVA compatible. EVA compatibility isdesigned into the hand by reproducing, as closely.as possible, the size,kinematics, and strength of the space suited astronaut hand and wrist. Thenumber of fingers and the joint travel reproduce the workspace for apressurized suit glove. The Robonaut Hand reproduces many of the necessarygrasps needed for interacting with EVA interfaces. Staying within this sizeenvelope guarantees that the Robonaut Hand will be able to fit into all therequired places. Joint travel for the wrist pitch and yaw is designed to meetor exceed the human hand in a pressurized glove. The hand and wrist parts are  sizedto reproduce the necessary strength to meet maximum EVA crew requirements.Figure1: Robonaut Hand Control system design for a dexterous robot handmanipulating a variety of tools has unique problems. The majority of theliterature available, summarized in [2,16], pertains to dexterous manipulation.This literature concentrates on using three dexterous fingers to obtain forceclosure and manipulate an object using only fingertip contact. While useful,this type of manipulation does not lend itself to tool use. Most EVA tools arebest used in an enveloping grasp. Two enveloping grasp types, tool and power,must be supported by the tool-using hand in addition to the dexterous grasp.Although literature is available on enveloping grasps [17], it is not asadvanced as the dexterous literature. The main complication involvesdetermining and controlling the forces at the many contact areas involved in anenveloping grasp. While work continues on automating enveloping grasps, a tele-operationcontrol strategy has been adopted for the Robonaut hand. This method ofoperation was proven with the NASA DART/FITT system [18]. The DART/FITT systemutilizes Cyber glove® virtual reality gloves, worn by the operator, to controlStanford/YPL hands to successfully perform space relevant tasks. 2.1 SpaceCompatibility EVA space compatibility separates the Robonaut Hand from manyothers. All component materials meetoutgassing restrictions to prevent contamination that couldinterfere with other space systems. Parts made of different materials aretoleranced to perform acceptably under the extreme temperature variationsexperienced in EVA conditions. Brushless motors are used to ensure long life ina vacuum. All parts are designed to use proven space lubricants.

与布署的空间站EVA乘员接口和工具交互作用的渴求为罗布onaut手规划必要提供了源点[1]。

垄断EVA乘职员和工人具供给力量(包络卡塔 尔(英语:State of Qatar)和灵活的抓握(指尖卡塔 尔(阿拉伯语:قطر‎。某个工具需求单臂或多手指动作,同时牢牢紧紧抓住。 20磅的最大本领。并供给30英寸磅的扭矩来拆除与搬迁和装置EVA轨道可转换单元(ORU卡塔 尔(阿拉伯语:قطر‎[15]。

怀有EVA工具和ORU必须在发生断电时保留。可以营造包容机器人和EVA的接口,只怕创设风流倜傥密密层层机器人工具来与EVA机组接口和工具举行相互。然则,这三种方法都是特别昂贵的,何况当然会扩大风姿罗曼蒂克套空间站工具和接口,那几个工具和接口已经布置得非凡粗茶淡饭。 罗布onaut设计将使机器人的手EVA包容,进而使具备EVA机组人机分界面和工具机器人宽容。通过尽恐怕地重现切合宇宙航银行人士手和手段的上空的尺码,运动学和强度,将EVA包容性设计在手中。手指和一同路程的数据再度现身了加压套装手套的工作空间。 罗布onaut手掌重现了与EVA分界面交互作用所需的大多必须手腕。保持在这里个尺寸范围内保证罗布onaut手将能够适应全数须要之处。手段节距和偏航的联名路程被规划为在加压手套中完毕或超越人口。手部和腕部的尺寸能够复出供给的强度,以知足最大的EVA机组人员的渴求。

图1:罗布onaut手控系统设计灵巧的机械人手垄断各类工具具备出色的标题。在[2,16]中计算的大多数文献都关系到灵巧的调节。这个文献聚焦于采纳多个灵巧手指来赢得力闭合併仅使用手指接触来决定物体。尽管有用,但那体系型的操作不适用于工具使用。大超多EVA工具最切合用来包围式抓握。除了灵巧的抓握之外,还必须运用工具用手来支撑三种包络抓握类型,工具和力量。固然文献可用于包络抓握[17],但它并不像灵巧手那样先进。紧要的繁琐满含鲜明和调控关系包络抓握的大队人马接触区域的力。固然自动化包络抓握的办事仍在这里起彼伏,但罗布onaut手已使用远程操作调控攻略。美利坚合众国国家航空宇航局DART / 英朗T系统验证了这种操作方法[18]。 DART / 摩根Aero 8T系统采用由操作员佩戴的Cyber​​glove®设想现实手套来决定Stanford / YPL手以成功执行空间相关任务。

 2.1上空宽容性EVA空间包容性将罗布onaut手与此外过四个人分别。全数组件质地均满意除气节制,避防备大概忧愁别的空间类别的传染。分裂材质制作而成的机件在EVA条件下经受极端温度变化时持有可选拔的属性。无刷电机用于确定保证真空中的长寿命。全体构件都设计为运用经过证实的空中润滑剂。

 3 Design

The Robonaut Hand (figure 1) has a total offourteen degrees of freedom. It consists of a forearm which houses the motorsand drive electronics, a two degree of freedom wrist, and a five finger, twelvedegree of freedom hand. The forearm, which measures four inches in diameter atits base and is approximately eight inches long, houses all fourteen motors, 12separate circuit boards, and all of the wiring for the hand. Y= Figure 2: Handcomponents The hand itself is broken down into two sections (figure 2): adexterous work set which is used for manipulation, and a grasping set whichallows the hand to maintain a stable grasp while manipulating or actuating agiven object. This is an essential feature for tool use [13]. The dexterous setconsists of two three degree of freedom fingers (pointer and index) and a threedegree of freedom opposable thumb. The grasping set consists of two, one degreeof freedom fingers (ring and pinkie) and a palm degree of freedom. All of thefingers are shock mounted into the palm (figure 2). In order to match the sizeof an astronaut's gloved hand, the motors are mounted outside the hand, andmechanical power is transmitted through a flexible drive train. Past handdesigns [2,3] have used tendon drives which utilize complex pulley systems orsheathes, both of which pose serious wear and reliability problems when used inthe EVA space environment. To avoid the problems associated with tendons, thehand uses flex shafts to transmit power from the motors in the forearm to the fingers. The rotary motionof the flex shafts is converted to linear motion in the hand using smallmodular leadscre was semblies. The result is acompact yet rugged drive train.Over all the hand is equipped with forty-three sensors not including tactilesensing. Each joint is equipped with embedded absolute position sensors andeach motor is  equipped with incrementalencoders. Each of the leadscrew assemblies as well as the wristball joint linksare instrumented as load cells to provide force feedback.

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