| 摘要(英) |
Industrial six-axis robotic arms are commonly used for X-ray diffraction (XRD) stress analyzer, requiring special three-axis oscillation motion. However, the robotic arms have certain drawbacks and high cost. In this study, a gantry-style oscillation mechanism and control process was developed to address the limitations of robotic arms.
The oscillation mechanism developed in this study differs from the design of industrial six-axis robotic arms. It utilizes a gantry-style transmission design based on a robust structure. This design effectively reduces the load on each independent motor axis and minimizes sensor calibration requirements. The mechanism combines X, Y, Z linear drive axes with Rx, Ry, Rz rotational axes, achieving a six-degree-of-freedom oscillation mechanism. Through structural stress analysis, the stability of the gantry-style body, transmission, and rotational axes of the mechanism was verified.To complement the oscillation mechanism design, a six-axis synchronized controller was also developed. Integration with the existing I/O interface software of the XRD stress analyzer was achieved, establishing an upper-level system control interface. The integrated system includes a path planning system, oscillation control system, XRD stress analyzer control system, and data acquisition and analysis system. This integrated system efficiently and conveniently meets the application requirements of users.
Through an XRD stress analyzer equipped with the gantry-style oscillation mechanism, three-axis special oscillation measurements were conducted on an aluminum alloy specimen. A comparison with measurements under no oscillation condition revealed that the use of the gantry-style oscillation mechanism significantly improved the quality of the Debyer-Scherrer ring. Furthermore, compared to measurements without oscillation, the standard deviation of the measured stress values decreased by approximately 58.97%. Therefore, the developed gantry-style oscillation mechanism effectively enhances the reliability of XRD stress analyzers in practical applications and could serve as an alternative to industrial six-axis robotic arms. |
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