This paper proposes a new type of hollow ring permanent magnet power-loss protection brake integrated into the interior of the robot joint components. Compare to the ordinary brakes, in the case of power failure, the brake uses permanent magnetic to brake generated by rare earth NdFeB, which has the advantages of low power consumption, large self-locking moment, easy assembly, maintenance free etc. After energizing, the electromagnetic coil produces the reverse electromagnetic force to counteract the permanent magnetic force together with the spring force of the flexible ring sheet on the friction armature to ensure the rapid release of the brake in the braking position and achieve the separation of no residual torque. The hollow ring routing mode not only avoids the exposure of the wire that is affected by electromagnetic radiation, but also avoids the surplus of the required wire at each joint. The equivalent magnetic circuit model of the brake under power on and power off conditions is established respectively, based on which the permanent magnetic internal structure, electromagnetic field change and magnetic flux trend are analyzed. The change of magnetic flux and magnetic flux density in the working air gap in two working conditions is shown. Finally, the theoretical calculation results are verified by the finite element simulation software.
KEYWORDS: Calibration, Collimators, Charge-coupled devices, Image processing, Weapons, Edge detection, Digital filtering, CCD image sensors, Signal processing, Process control
In order to solve the problems of complex operation and insufficient environmental adaptability in the traditional zero calibration process of sight, a fast calibration scheme of photoelectric sight is proposed. A rod insertion calibration device based on collimator is used and the collimator image collected by CCD is processed in this scheme. Through the image processing method of adaptive threshold Canny edge detection and Hough transform fitting, and the feature point acquisition method of point clustering, the center position of the cross image is obtained, and the deflection angle between the optical axis of the sight and the muzzle axis is calculated. Analysis and experimental results show that the average calibration error of this method is within 0.1mil. Compared with the traditional gun calibration process, this calibration method can achieve higher cold chamber calibration efficiency and environmental adaptability.
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