ass日本风韵熟妇pics男人扒开女人屁屁桶到爽|扒开胸露出奶头亲吻视频|邻居少妇的诱惑|人人妻在线播放|日日摸夜夜摸狠狠摸婷婷|制服 丝袜 人妻|激情熟妇中文字幕|看黄色欧美特一级|日本av人妻系列|高潮对白av,丰满岳妇乱熟妇之荡,日本丰满熟妇乱又伦,日韩欧美一区二区三区在线

Considering the packaging requirements of different sizes of customized cartons, the design method of variable actuated layout for 5R parallel kinematic mechanism was proposed. The kinematic analysis of 5R parallel mechanism was carried out, and different workspace maps were drawn by geometric method. A method of searching the reachable workspace through tracing the motion trajectory was proposed. These provided the basis for configuration application of the carton packaging mechanism. The folding process of carton cover was analyzed, and the 5R mechanism of the two actuated motors with coincident joint was selected as finger prototype to fold the flap. The motion parameters of actuated motors were extracted through the motion simulation, the fitted analytic function was input into the control program of finger mechanism. The experimental results verified that the expected motion trajectory of carton flap and finger mechanism had good controllability. Thus a reconfigurable carton packaging machine was developed to demonstrate the ability to erect different sizes of the cartons, which was different from the production line. By means of restructuring module structure and reconfiguration control program, the end effector was flexibility and controllable. The device had the characteristics of small space occupation and flexible control. It would be helpful for the delivery staff to improve the working efficiency and reduce the workload.