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【正文】 placement for the Actuator HLCTs and Structure HLCts, as seen . 內(nèi)蒙古工業(yè)大學(xué)本科畢業(yè)設(shè)計(jì)外文翻譯 3 Fig. 2 An industrial robot (left) and a modular industrial robot(right) The names of the references that must be provided for each HLCt instantiation are stored in the knowledge base (see Appendix ), which is searched through by the inference engine. In Appendix A, pseudocode examples describes how the references are retrieved and how they are stored in the knowledge base. The process starts by the user defining the number of degrees of freedom (DOF) of the robot (see Fig. 3) and is repeated until the number of axis (i) is equal to the user defined order to instantiate the first Structure HLCt, two Datum and two actuator instances are needed. References from the two Datum instances help orienting the structure in space, while the geometries of the actuator instances, at both ends of the link, are used to construct the actuator attachments, as seen in Figs. 2 and 3. For the remaining links, only one new instance of both datum and actuator HLCts are required, since the datum and actuator instances from adjacent links are already shows a pseudocode example of an instantiation function. The first instantiated datum HLCt is defined with reference to the absolute coordinate system. The remaining datum HLCt instances are placed in a sequential order, where the coordinate system of previous instances is used as reference for defining the position in space according to user inputs (see also ). Furthermore, the type of each actuator and structure instance is user defined. 內(nèi)蒙古工業(yè)大學(xué)本科畢業(yè)設(shè)計(jì)外文翻譯 4 Fig. 3 The high level CAD template instantiation process Since it is possible to create new HLCts in the utilized CAD tool, the users are not forced to merely choose from the templates available. New HLCts can be created, placed in the database and parametrically inserted into the models. Dynamic Model The objective of performing dynamic simulation of a robot is to evaluate system performance, such as predicting acceleration and time performance, but it also yields loads on each actuated axis, needed for actuator lifetime calculations and subsequent stress analysis based on FE calculations. The 內(nèi)蒙古工業(yè)大學(xué)本科畢業(yè)設(shè)計(jì)外文翻譯 5 dynamic model in the outlined framework is developed in Modelica using Dymola, and it constitutes a sevenaxis robot arm based on the Modelica Standard library [18]. The dynamic model receives input from the geometry model,as well as providing output to the FE model, which is further described in Sec. . However, to better understand the couplings between the models, the Newto
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