labview中外文翻译5000字

篇一：LabVIEW外文翻译

National Instruments LabVIEW: A Programming Environment for

Laboratory Automation and Measurement . National Instruments LabVIEW is a graphical programming language that has its roots in automation control and data acquisition. Its graphical representation, similar to a process flow diagram, was created to provide an intuitive programming environment for scientists and engineers. The language has matured over the last 20 years to become a general purpose programming environment. LabVIEW has several key features which make it a good choice in an automation environment. These include simple network communication, turnkey implementation of common communication protocols (RS232, GPIB, etc.), powerful toolsets for process control and data fitting, fast and easy user interface construction, and an efficient code execution environment. We discuss the merits of the language and provide an example application suite written in-house which is used in integrating and controlling automation platforms.

Keywords: NI LabVIEW; graphical programming; system integration; instrument control; component based architecture; robotics; automation; static scheduling; dynamic scheduling; database

Introduction

Cytokinetics is a biopharmaceutical company focused on the discovery of small molecule therapeutics that target the cytoskeleton. Since inception we have developed a robust technology infrastructure to support our drug discovery efforts. The infrastructure provides capacity to screen millions of compounds per year in tests ranging from multiprotein biochemical assays that mimic biological function to automated image-based cellular assays with phenotypic readouts. The requirements for processing these numbers and diversity of assays have mandated deployment of multiple integrated automation systems. For example, we have several platforms for biochemical screening, systems for live cell processing, automated microscopy systems, and an automated compound storage and retrieval system. Each in-house

integrated system is designed around a robotic arm and contains an optimal set of plate-processing peripherals (such as pipetting devices, plate readers, and carousels) depending on its intended range of use. To create the most flexible, high performance, and cost-effective systems, we have taken the approach of building our own systems in-house. This has given us the ability to integrate the most appropriate hardware and software solutions regardless of whether they are purchased from a vendor or engineered de novo, and hence we can rapidly modify systems as assay requirements change.

To maximize platform consistency and modularity, each of our 10 automated platforms is controlled by a common, distributed application suite that we developed using National Instruments (NI) LabVIEW. This application suite described in detail below, enables our end users to create and manage their own process models (assay scripts) in a common modeling environment, to use these process models on any automation system with the required devices, and allows easy and rapid device reconfiguration. The platform is supported by a central Oracle database and can run either statically or dynamically scheduled processes.

NI LabVIEW Background

LabVIEW, which stands for Laboratory Virtual Instrumentation Engineering Workbench is a graphical programming language first released in 1986 by National Instruments (Austin, TX). LabVIEW implements a dataflow paradigm in which the code is not written, but rather drawn or represented graphically similar to a flowchart diagram Program execution follows connector wires linking processing nodes together. Each function or routine is stored as a virtual instrument (VI) having three main components: the front panel which is essentially a form containing inputs and controls and can be displayed at run time, a block diagram where the code is edited and represented graphically, and a connector pane which serves as an interface to the VI when it is imbedded as a sub-VI.

The top panel (A) shows the front panel of the VI. Input data are passed through “Controls” which are shown to the left. Included here are number inputs, a file path box, and a general error propagation cluster. When the VI runs, the “Indicator”

outputs on the right of the panel are populated with output data. In this example, data include numbers (both as scalar and array), a graph, and the output of the error cluster. In the bottom panel (B) the block diagram for the VI is shown. The outer case structure executes in the “No Error” case (VIs can make internal errors or if called as a sub-VI the caller may propagate an error through the connector pane).Unlike most programming languages, LabVIEW compiles code as it is created thereby providing immediate syntactic and semantic feedback and reducing the time required for development and testing.Writing code is as simple as dragging and dropping functions or VIs from a functions palette onto the block diagram within process structures (such as For Loops, or Case Structures) and wiring terminals (passing input values, or references). Unit testing is simplified because each function is separately encapsulated; input values can be set directly on the front panel without having to test the containing module or create a separate test harness. The functions that generate data take care of managing the storage for the data.

NI LabVIEW supports multithreaded application design and executes code in an inherently parallel rather than sequential manner; as soon as a function or sub-VI receive the array input simultaneously as soon as the For Loop is complete, and thus they execute in parallel. This is unique from a typical text-based environment where the control flows line by line within a function. When sequential execution is required, control flow can be enforced by use of structures such as Sequences, Events, or by chaining sub-VIs where output data from one VI is passed to the input of the next VI.

Similar to most programming languages, LabVIEW supports all common data types such as integers, floats, strings, and clusters (structures) and can readily interface with external libraries, ActiveX components, and .NET framework. As shown in each data type is graphically represented by wires of different colors and thickness. LabVIEW also supports common configuration management applications such as Visual SourceSafe making multideveloper projects reasonable to manage.Applications may be compiled as executables or as Dynamic Link Libraries

(DLLs) that execute using a run-time engine similar to the Java Runtime Environment. The development environment provides a variety of debugging tools such as break-points, trace (trace), and single-step. Applications can be developed using a variety of design patterns such as Client-Server, Consumer-Producer, and State-Machine. There are also UML (Unified Modeling Language) modeling tools that allow automated generation of code from UML diagrams and state diagrams.

Over the years, LabVIEW has matured into a general purpose programming language with a wider user base.

NI LabVIEW as a Platform for Automation and Instrumentation

Our experience creating benchtop instrumentation and integrated automation systems has validated our choice of LabVIEW as an appropriate tool. LabVIEW enables rapid development of functionally rich applications appropriate for both benchtop applications and larger integrated systems. On many occasions we have found that project requirements are initially ill defined or change as new measurements or new assays are developed.. There are several key features of the language that make it particularly useful in an automation environment for creating applications to control and integrate instrumentation, manage process flow, and enable data acquisition.

Turnkey Measurement and Control Function

LabVIEW was originally developed for scientists and engineers .The language includes a rich set of process control and data analysis functions as well as COM, .NET, and shared DLL support. Out of the box, it provides turnkey solutions to a variety of communication protocols including RS232, GPIB, and TCP/IP. Control structures such as timed While Loops allow synchronized and timed data acquisition from a variety of hardware interfaces such as PCI, USB, and PXI.

DataSocket and VI Server

Deployment of an integrated system with multiple control computers requires the automation control application to communicate remotely with instrument drivers existing on remote computers. LabVIEW supports a distributed architecture by virtue of enabling seamless network communication through technologies such as VI Server and DSTP (data sockets transfer protocol).

篇二：关于Labview的外文翻译

LabVIEW

LabVIEW is a highly productive graphical programming language for building data acquisition an instrumentation systems.With LabVIEW, you quickly create user interfaces that give you interactive control of your software system. To specify your system functionality,you simply assemble block diagrams - a natural design notation for scientists and engineers. Tis tight integration with measurement hardware facilitates rapid development of data acquisition ,analysis,and presentation solutions.LabVIEW contains powerful built -in measurement analysis and a graphical compiler for optimum performance. LabVIEW is available for Windows 2000/NT/Me/9x, Mac OS, Linux, Sun Solaris, and HP-UX, and comes in three different development system options.

Faster Development

LabVIEW accelerates development over traditional programming by 4 to 10 times! With the modularity and hierarchical structure of LabVIEW, you can prototype ,design, and modify systems in a short amount of time. You can also reuse LabVIEW code easily and quickly in other applications.

Better Investment

Using a Lab VIEW system, each user has access to a complete instrumentation laboratory at less than the cost of a single commercial instrument. In addition, user configurable LabVIEW systems are flexible enough to adapt to technology changes, resulting in a better bong-term investment.

Optimal Performance

All LabVIEW applications execute at compiled speed for optimal performance. With the LabVIEW Professional Development System or Application Builder, you can build stand-alone executables or DLLs for secure distribution of your code. You can even create shared libraries or DLLs to call LabVIEW code from other programming languages.

Open Development Environment

With the open development environment of LabVIEW, you can connect to other applications through ActiveX, the Web, DLLs, shared libraries, SQL(for databases), DataSocket, TCP/IP,and numerous other protocols.Use LabVIEW to quickly create networked measurement and automation systems that integrate the latest technologies in Web publishing and remote data sharing. LabVIEW also has driver libraries available for plug-in data acquisition, signal conditioning , GPIB,VXI,PXI, computer-based instruments,serial protocols, image acquisition, and motion control. In addition to the LabVIEW development systems, National Instruments offers a variety of add-on modules and tool sets that extend the functionality of LabVIEW .This enables you to quickly build customizable, robust measurement and automation systems. LabVIEW Datalogging and Supervisory Control Module

For high channel count and distributed applications, the LabVIEW Datelogging and Supervisory Control Module provides a complete solution. This module delivers I/O management, event logging and alarm management, distributed logging, historical and real-time trending, built-in security, configurable networking features, OPC device connectivity, and over 3,300 built-in graphics.

LabVIEW Real-Time

For applications that require real-time performance, National Instruments offers LabVIEW

Real-Time. LabVIEW Real-Time downloads standard LabVIEW code to a dedicated hardware target running a real-time operating system independent from Windows.

LabVIEW Vision Development Module

The LabVIEW Vision Development Module is for scientists, automation engineers,and technicians who are developing LabVIEW machine vision and scientific imaging applications. The LabVIEW Vision Development Module includes IMAQ Vision, a library of vision functions, and IMAQ Vision Builder, an interactive environment for vision applications. Unlike any other vision products, IMAQ Vision Builder and IMAQ Vision work together to simplify vision software development so that you can apply vision to your measurement and automation applications.

Countless Applications

LabVIEW applications are implemented in many industries worldwide including automotive, telecommunications, aerospace, semiconductor, electronic design and production, process control, biomedical, and many others, Applications cover all phases of product development from research to design to production and to service. By leveraging LabVIEW throughout your organization you can save time and money by sharing information and software.

Test and Measurement

LabVIEW has become an industry-standard development tool for test and measurement applications. With Test Stand, LabVIEW-based test programs, and the industry's largest instrument driver library, you have a single, consistent development and execution environment for your entire system.

Process Control and Factory Automation

LabVIEW is used in numerous process control and factory automation applications.Many scientists and engineers look to LabVIEW for the high speed, high channel count measurement and control that graphical programming offers.For large, complex industrial automation and control applications, the LabVIEW Data logging and Supervisory Control Module provides the same graphical programming as LabVIEW, but is designed specifically for monitoring large numbers of I/O points, communicating with industrial controllers and networks, and providing PC-based control.

Machine Monitoring and Control

LabVIEW is ideal for machine monitoring and predictive maintenance applications that need deterministic control, vibration analysis, vision and image processing, and motion control. With the LabVIEW platform of products including LabVIEW Real-Time for real-time deterministic control and the LabVIEW Data logging and Supervisory Control Module, scientists and engineers can create powerful machine monitoring and control applications quickly and accurately.

Research and Analysis

The integrated LabVIEW measurement analysis library provides everything you need in an analysis package. Scientists and researchers have used LabVIEW to analyse and compute real results for biomedical, aerospace, and energy research applications, and in numerous other industries. The available signal generation and processing, digital filtering, windowing, curve-fitting, For specialized analysis, such as joint time-frequency analysis, wavelet,and model-based spectral analysis, LabVIEW offers the specially designed Signal Processing Toolset.The Sound and Vibration Toolset offers octave analysis, averaged and nonaveraged frequency analysis, transient analysis, weighted filtering, and sound-level measurement, and more.

Draw Your Own Solution

With LabVIEW, you build graphical programs called virtual instruments (VIs) instead of writing text-based programs. You quickly create front panel user interfaces that give you the interactive control of your system. To add functionality to the user interface, you intuitively assemble block diagrams- a natural design notation for engineers and scientists.

Create the Front Panel

On the front panel of your VI, you place the controls and data displays for your system by selecting ob jects from the Controls palette, such as numeric displays, meters, gauges, thermometers, LEDs, charts,and graphs.When you complete and run your VI,you use the front panel to control your system whether you move a slide, zoom in on a graph, or enter a value with the keyboard.

Construct the Graphical Block Diagram

To program the VI, you construct the block diagram without worrying about the syntactical details of text-based programming languages. You do this by selecting objects (icons) from the Functions palette and connecting them together with wires to transfer data among block diagram objects. These objects include simple arithmetic functions, advanced acquisition and analysis routines, network and file I/O operations, and more.

Dataflow Programming

LabVIEW uses a patented dataflow programming model that frees you from the linear architecture of text-based programming languages. Because the execution order in LabVIEW is determined by the flow of data between nodes,and not by sequential lines of text,you can create block diagrams that execute multiple operations in parallel. Consequently, LabVIEW is a multitasking system capable of running multiple execution threads and multiple VIs in parallel.

Modularity and Hierarchy

LabVIEW VIs are modular in design, so any VI can run by itself or as part of another VI. You can even create icons for your own VIs, so you can design a hierarchy of VIs that serve as application building blocks. You can modify, interchange, and combine them with other VIs to meet your changing application needs.

Graphical Compiler

In many applications, execution speed is critical. LabVIEW is the only graphical programming system with a compiler that generates optimized code with execution speeds comparable to compiled C programs. You can even use the LabVIEW profiler to analyse and optimize time-critical operations. Consequently, you increase your productivity with graphical programming without sacrificing execution speed.

Measurements and Mathematics

LabVIEW includes a variety of other measurement analysis tools. Examples include curve fitting, signal generation, peak detection, and probability and statistics. Measurement analysis functions can determine signal characteristics such as DC/RMS levels, total harmonic distortion (THD),impulse response, frequency response, and cross-power spectrum. LabVIEW users can also deploy numerical tools for solving differential equations, optimization, root finding, and other mathematical problems.In addition, you can extend these built-in capabilities by entering MATLAB or HIQ scripts directly in your LabVIEW programs. For charting and graphing, you can rely on the built-in LabVIEW 2D and 3D visualization tools. 2D tools include features such as autoscaling X and Y ranges, reconfigurable attributes (point/line styles, colors, and more)and

cursors, Microsoft Windows users can employ OpenGL-based 3D graphs and then dynamically rotate, zoom, and pan these graphs with the mouse.

Development System

The LabVIEW Professional Development System facilitates the development of high-end, sophisticated instrumentation systems for developers working in teams, users developing large suites of VIs, or programmers needing to adhere to stringent quality standards.Built on the Full Development System, the Professional Development System also includes the LabVIEW Application Builder for building stand-alone executables and shared libraries (DLLs）and creating distribution kits. In addition, the development system furnishes source code control tools and offers utilities for quantitatively measuring the complexity of your applications. With graphical differencing, you can quickly identify both cosmetic and functional differences between two LabVIEW applications.We include programming standards and style guides that provide direction for consistent LabVIEW programming methodology. The system also contains quality standards documents that discuss the steps LabVIEW users must follow to meet internal regulations or FDA approval. The Professional Development System operates on Windows 2000/NT/Me/9x,Mac OS, HP-UX, and Linux.

LabVIEW Full Development System

The LabVIEW Full Development System equips you with all of the tools you need to develop instrumentation systems. It includes GPIB, VISA, VXI, RS-232, DAQ, and instrument driver libraries for data acquisition and instrument control. The measurement analysis add DC/RMS measurements, single tone analysis, harmonic distortion analysis, SINAD analysis, limit testing, signal generation capabilities, signal processing, digital filtering, windowing, curve fitting, statistics, and a myriad of linear algebra and mathematical functions. The development system also provides functions for direct access to DLLs, ActiveX, and other external code. Other features of the system include Web publishing tools, advanced report generation tools, the ability to call MATLAB and HiQ scripts, 3D surface, line, and contour graphs, and custom graphics and animation. The Full Development System operates on Windows 2000/NT/Me/9x, Mac OS, HP-UX, and Linux.

LabVIEW Base Package

Use the LabVIEW Base Package, the minimum LabVIEW configuration, for developing data acquisition and analysis, instrument control, and basic data presentation. The Base Package operates on Windows 2000/NT/Me/9x.

Debug License for LabVIEW

If you deploy LabVIEW applications, including LabVIEW tests for use with Test Stand, the debug license allows you to install the LabVIEW development system on the target machines so you can step into your test code for complete test debugging. This license is not intended for program development.

虚拟仪器（LabVIEW）

虚拟仪器是一种高效用于构建数据采集与监测系统图形化编程语言。使用虚拟仪器，您快速创建用户界面，让您交互控制您的软件系统。要指定您系统的功能，您只需装配块关系图—一种自然的设计表示科学家和工程师。测量硬件紧密集成方便了数据采集、分析与演示文稿解决方案的快速发展。虚拟仪器包含强大的内置度量分析和一个图形的编辑器实现最佳性能。虚拟仪器是使用于Windows 2000/NT/Me/9x、Mac OS、Linux、Sun Solaris 和HP-UX， 有三种不同的开发系统选项。

更快地发展

虚拟仪器通过加快发展了对传统的编程提升了4至10倍！使用模块化和层次结构的虚拟仪器，可以原型，设计，并且在一个短时间内修改系统。您也可以重用虚拟仪器代码轻松快速地在其他应用程序中应用。

更好的投资

使用虚拟仪器系统，每个用户有权访问单一的商业文书的成本低于一个完整的检测实验室。此外，用户还可配置的虚拟仪器系统足够的灵活性，从而更好地长期投资的技术变化与适应。

优化性能

虚拟仪器的所有应用程序执行以获得最佳性能的编译速度。用虚拟仪器专业开发系统或应用程序生成器，可为您的代码的安全通讯生成独立可执行文件或dll。您甚至可以创建共享的库或从其他编程语言中调用虚拟仪器代码的dll。

开放的开发环境

用虚拟仪器在开放开发环境，您可以连接到通过ActiveX、Web、dll、共享的库、SQL（数据库）、DataSocket、TCP/IP和许多其他协议的其他应用程序。虚拟仪器用于快速创建网络的测量和Web发布和远程数据共享最新的科技集成的自动化系统。虚拟仪器也可以用于插件数据采集、信号调理、GPIB、VXI、PXI、基于计算机的仪器、串行协议、图像采集和运动控制的驱动程序。除了在虚拟仪器的开发系统国家仪器还提供多种附加模块和扩展功能的虚拟仪器的工具集。这使您可以快速构建可定制、鲁棒的测量和自动化系统。 虚拟仪器数据记录和监督控制模块

高通道数的分布式应用程序日志记录的虚拟仪器数据和监督控制模块，提供了一个完整的解决方案。此模块提供了I/O管理、事件日志和警报管理、分布式日志记录、历史和实时趋势分析、内置安全、网络功能，可配置、OPC设备的连接和超过3,300内置图形。 实时虚拟仪器

对于需要实时性能的应用国家仪器，提供了实时虚拟仪器。虚拟仪器从Windows运行独立的实时操作系统实时下载标准虚拟仪器代码到专用的硬件目标。

虚拟仪器视觉开发模块

虚拟仪器视觉开发模块是为科学家、自动化的工程师和技术人员正在开发虚拟机器视觉和科学的图像处理应用程序。虚拟仪器视觉开发模块包括IMAQ视觉，视觉的函数库和IMAQ视觉一起工作来简化视觉软件开发，以便您可以应用视觉测量和自动化应用程序。 广泛的应用

在很多行业全球包括汽车、电讯、航空航天、半导体、电子设计和生产、过程控制生物医学，以及许多其他实现虚拟仪器的应用程序。应用程序覆盖产品从设计到生产和服务的研究开发的所有阶段。利用虚拟仪器在整个组织您可以节省时间和金钱的共享信息和软件。 测试与测量

虚拟仪器已经成为一个行业标准开发工具，用于测试和测量的应用程序。与试验台，基

篇三：外文翻译 labview

结构力学

外文翻译

班级：姓名：魏卓

学号：S15082400018学院：船舶与海洋工程学院

浙江海洋大学

2015 年 12 月 28 日

一种基于LabVIEW的多功能机械臂末端执行器的软件架构的方案和验证

摘要

本文提出一种基于LabVIEW软件架构，用于控制离散事件系统。所提出的架构是生产者 - 消费者设计模式的变形。本方案使用多功能机械臂末端执行器的控制软件作为试验台来分析软件架构的适应性、使用限制和优点。该研究表明该架构在处理集成多种功能的控制系统的有效性。对于本文案例研究中，使用两个验证技术进行架构验证案件检查软件产品：（1）正式验证使用时间自动机和UPPAAL模型检查（2）一致性注入和故障注入的方法来决定软件测试的设置。两个验证技术确定了在编程阶段被引入到控制系统中的错误。

1 引言

本文讨论了设计和验证控制软件在LabVIEW离散事件系统的问题。本文的构思来源于航空工业的实际应用和用于多功能机械臂末端执行器的控制软件的发展。FARE（机身装配机器臂末端执行器）是巴西航空和工业技术的航空协会（ITA）之间合作项目的一部分。FARE的首要特点是作为一个有时间限制的离散事件系统。使用LabVIEW作为FARE控制系统的编程语言是航空公司的要求，因为它减少了开发时间，有与硬件设备的整合的可扩展性和易用性。LabVIEW已经广泛地图形化编程环境仪器仪表和控制应用中使用。但是，应用在

LabVIEW中离散事件控制系统的例子是不常见的。

离散事件控制系统的开发过程，通常基于诸如自动机和Petri建模技术网，应适应的图形化编程语言LabVIEW中。用于现成的解决方案模拟离散事件系统中，LabVIEW有一个状态图工具包、有限状态机和最近推出的状态图模块。因为这些解决方案为系统的限制拥有大量状态和转换，这项工作提出基于生产者 - 消费者设计模式的提案。

本文的贡献是对离散事件控制系统软件架构的建议、应用和验证。本文用机身装配机械臂末端执行器作为测试台分析软件体系结构的适用性和局限性、优点。关于该技术用于验证开发离散事件控制系统LabVIEW中的讨论也是本文的贡献。使用两个验证技术进行架构验证案件检查软件产品：（1）正式验证使用时间自动机和UPPAAL模型检查（2）一致性注入和故障注入的方法来决定软件测试的设置。两个验证技术确定了在编程阶段被引入到控制系统中的错误。

该验证方法的步骤如下图1所示。从软件需求出发，对部分版本FARE控制软件开发。对于相应的模型时间自动机的开发和验证。在时间自动机模型检测到的错误被用于校正的软件。同样的，CoFl的测试是使用由飞机制造商指定的并且施加到端部执行器的控制软件的部分版本的要求开发的。检测到的错误被编译在总结经验教训的清单，这是用于完整版FARE控制软件的开发。完整版提交功能测试进行最终审定。

本文还有以下几章。第2章讨论相关性工作。第3章描述所提出的软件架构。第4章介绍了FARE和它的控制软件。然后，第5章介

绍了对使用UPPAAL模型检测FARE软件的验证和基于CoFl模型的测试方式的应用。第6章是对本文的总结和未来工作的展望。

2 相关性工作

相关工作的审查的重点是两个主题：离散事件系统的控制和软件开发在LabVIEW中离散事件系统。本系统的执行终端没有安装向计算机回传数据的传感器,为了使仿真模型与实际机械臂同步运行, 作者通过软件编程来实现同步。

基本原理是:使控制指令(机械臂转动的角度值)同时被仿真程序和 控制程序执行,并在新指令到来时进行判断;若当前控制指令已经被仿真程序和控制程序执行完毕, 则传入新指令,否则进行等待,直到当前指令被执行完毕。

机械臂是一种可以运动的刚体，它需要一种数学方法来描述自身的运动特点，包括位移（距离）、速度、加速度等等。这种数学方法需要准确地描述机械臂的控制输入变量（关键角度）与输出变量（末端执行器）的关系。导出它的运动方程，至今，已成为标准的表示机器人和对机器人运动进行建模的方法。它以四阶方阵变换三维空间点的齐次坐标为基础的。为了描述机械臂与周围物体的关系，如抓取目标等，就需要学习刚体的坐标变换。

机械臂的运动学包括正向运动学和逆向运动学。正向运动学是指通过机械臂的各个关节的角度求取末端执行器的位置的问题；逆向运动学则恰好相反，已知末端执行器的位置，求取机械臂的各个关节的

角度的问题。

航天器机械臂典型故障的数字模拟包括机械臂模型的建立和故障模式的数字模拟。机械臂模型的建立包括机械臂几何尺寸、臂管材料的选取, 转动关节的设计,由运动学规划出发和回程轨迹, 以及动力学分析等步骤,同时也为两种故障模式的数字模拟提供了分析基础。故障模式的数字模拟是以所建立的机械臂模型为对象来模拟两种主要故障模式包括对机械臂工作的影响和表现特征, 也将为后面建立健康监控系统提供重要的依据。

臂管强度破坏的数字模拟。由前面已知条件和出发段、回程段各臂管的惯量矩阵, 便可做各臂管的动力学分析和应力分析。图 2(a )和图 2(b) 分别为出发段和回程段各臂管表面应力随时间变化曲线。可以看出应力主要在加速和减速时比较显著, 应力变化也比较明显, 匀速段应力几乎没有什么变化, 加速变匀速和匀速变减速时应力变化起伏很大。回程段臂管承受的应力比较大是因为回程段机械臂是负载着大质量的有效载荷运动的, 所以回程段的应力非常显著。因此, 故障诊断时应以回程段为重点, 特别是加速变匀速和匀速变减速的阶段。

本项目利用 LabVIEW 提供的三维参数曲面图形显示控件构建机械臂的三维仿真显示平台。静态建模时,先在 X-Z 平面内绘制出机械臂各杆件的平面图形, 构建一个包含各杆件平面坐标的数组(x i ,0,z i ),根据各杆件的尺寸比例将其沿Y方向平移y 后可得到一新的数组(x i ,y i ,z i )(此时,若将这两个数组传给三维参数曲面函数可绘制出一个

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