Due to conventional industrial robot moving has been known that programing is either tedious or simplex and operating platform requires a pure environment without unnecessary distractions from other objects. This paper presents a novel method which using shape based 3Dmatching technology for picking and placing object by UR robot. This method is able to help the robot catch a specified object in any complex environment. To do this, we need only one camera and the targets' 3D CAD model. There are many efforts was indeed carried out in order to improve the control accuracy, first , the 3D coordinates of the interested points should be high-resolution calculated with the images that areprovided by the camera and we use a special method to optimize internal and external camera parameters when calibrating the camera, Then, A 3D-matching-operator is used to search for the specific objects in the real-time images based on the given 3D model, which is realized by projects the edges of the 3D object model that was used to create the 3D shape model into the image coordinate system and return projected edges. Finally, the coordinates of the 3D object model is obtained in the PTU coordinate system through the integration of a PTU and a Laser range finder , and a transformational matrix is obtained for calculate the coordinates of the targets on UR robot’s base coordinate system. Based on this technology, users only simply need to import a 3D CAD model and click on the image of the workplace to define the end point, the robot will exceed the procedure of pick and place automatically.
Thermoelectric Generator is a device using the widespread natural temperature to generate electricity. On the basis of investigations and experiments, this paper fully expounded thermoelectric generator’s significance, system block diagram, circuits, operational principle, application foregrounds and etc. Semiconductor thermoelectric module and the controller compose the thermoelectric generator, semiconductor thermoelectric power modules change heat energy into electric energy, the electric energy is stored in the controller's battery by the charging circuit. The controller has many functions such as current limiting, under voltage and other functions. At the same time, we had also designed the step-up circuit, in this way, the thermoelectric generator can output higher voltage. The experiment results and application show the thermoelectric generator has good performance and powerful function, it is worth spreading.
, et al. The structural, electronic, elastic and high thermoelectric properties of a new Zintl compound Ba 3 Sn 3 Sb 4 studied by first principles (in Chinese).
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