外文翻译-利用机器视觉和手的运动控制来提高起重机操作员的性能
外文翻译--智能化的物流搬运机器人-agv-其他专业
中文3170字Intelligent logistics handling robot--AGVHandling the logistics function is one of the elements of the logistics systems have a high rate, logistics occupy an important part of the cost. United States industrial production process Handling costs account for 20-30% of the cost. German logistics enterprises Material handling costs account for one-third of the turnover. Japan logistics handling costs account for the GNP %,and China production logistics handling costs account for about % of the manufacturing cost. All of the world have been seeking mechanization and intelligent handling technology and equipment. AGV, a flexible and intelligent logistics handling robots, from the 1950s, storage industry begans to use. now in the manufacturing sector, ports, terminals and other areas of universal application.AGV notable feature is unmanned, the AGV is equipped with an automatic guidance system, system can be protected in no artificial pilot circumstances can be scheduled along the route will automatically, goods or materials from the threshold automatically delivered to the destination. Another feature of the AGV is good flexibility and a high degree of automation and a high level of intelligence, AGV according to the route of storage spaces, such as changes in the production process and the flexibility to change, running path and the cost of change with the traditional carousels and rigid transmission line compared to low. AGV is equipped with the general handling agencies, equipment and other logistics automatic interface, Implementation of goods and material handling and the removal process automation. Moreover, the AGV is also cleaner production characteristics, AGV rely on the built-in battery powered. running process without the noise, pollution-free, and can be applied to many of the requirements in the working environment cleaner place.ⅠAGV typesAGV it has been since the invention of a 50-year history, with the expansion of areas of application, of the types and forms of diversity has become. Often under the AGV will automatically process the way of AGV navigation divided into the following categories : Induction-guided AGVElectromagnetic Induction general guide is on the ground, along a predetermined routeof the buried cable, when the high-frequency currents flowing through wires, Traverse electromagnetic field generated around, AGV symmetrical installed two electromagnetic sensors, they receive the electromagnetic signal intensity differences reflect AGV deviated from the path degree. AGV control system based on this bias to control the vehicle's steering,Continuous dynamic closed-loop control to ensure AGV path for the creation of a stable tracking. This guide electromagnetic induction method of navigation in the vast majority of the AGVS commercial use, particularly applies to the large and medium-sized AGV.2. Laser-guided AGVThe AGV species can be installed on a rotating laser scanner, running path along the walls or pillars installed a high reflective of positioning signs, AGV rely on the laser scanner fired a laser beam, followed by the reflective signs around the positioning of the laser beam back, on-board computer to calculate the current vehicle position and the direction of movement, adopted and built-in digital maps correction compared to the position, thus achieving automatic removal.Currently, the types of AGV increasingly prevalent. And the basis of the same guiding principles, if the laser scanner replacement for infrared transmitters, ultrasonic transmitters. is laser-guided AGV can become infrared-guided AGV and ultrasound-guided AGV.3. Vision-guided AGVVision-guided AGV is under rapid development and maturity of the AGV. The species AGV is equipped with a CCD camera and sensors. on-board computer equipped with AGV wishes to the route of the surrounding environment image database. AGV moving process, dynamic access to traffic cameras around environmental information and images and image databases, thus determine the current location of the next stage will make a decision.AGV such as setting up does not require any physical path, in theory, has the best guide Flexible, With the computer image acquisition, storage and processing of the rapid development of technology, the kinds of practical AGV is growing.In addition, there are ferromagnetic gyro inertial-guided AGV, optical-guided AGV variety of forms of AGV.Ⅱ Application of AGV1. WarehousingWarehousing AGV is the first application of the place. In 1954 the first to AGV in the United States state of South Carolina Mercury M otor Freight company's operational warehouse for storage of goods from achieving automatic removal. At present the world is about 2 million operation in a wide range of AGV 2,100 large and small warehouses. Videocon Group in 2000, running the operation zone warehouse, 9 AGV Taiwan formed a soft bank automatic handling system, successfully completed the 23,400 daily conveying goods and parts handling tasks.2. ManufacturingAGV production in the manufacturing sector in line to succeed, efficient, accurate and flexible materials to complete the task of handling. And may be composed of multiple AGV Flexible handling of the logistics system Along with handling the production line can process adjustments and timely adjustment make a production line to produce more than 10 types of products, greatly improving production flexibility and the competitiveness of enterprises. 1974 Sweden's V olvo Kalmar car assembly plants in order to improve the transport system flexibility AGVS based tools to carry automatic car assembly line, from the assembly line more than capable of carrying the body of car components AGVS use of the assembly line. reduced assembly time by 20% and 39% decrease assembly fault, the investment recovery period decreased 57% labor decreased by 5%. Currently, AGV in the world's major car manufacturers, such as General Motors, Toyota, Chrysler, public works, such as automobile manufacturing and assembly line is being widely used.In recent years, as the basis for CIMS removal tool, the AGV to the mechanical application of in-depth processing, production of home appliances, microelectronics manufacturing, tobacco and other industries, production and processing areas to become the most widely AGV areas.3. Post office, library, port and airportAt post offices, libraries, and airport terminals occasions, the delivery of the existence of operational changes, dynamic nature, processes recurring adjustments, and removal processes in a single, features AGV concurrent operations, automation, Intelligent and flexible to the characteristics of a good occasion to meet on-removal requirements. Sweden in 1983 in Stockholm offices Slovakia, Japan in 1988 in Tokyo, Tama offices, China in 1990 in Shanghai started to use postal hub AGV complete removal products work. Port of Rotterdam in the Netherlands. 50 known as the "yard tractors" AGV completed container from the side of the delivery of several hundred yards from the The repeatability warehouse work.4. Tobacco, medicine, food, chemicalsFor the removal operation is clean, safe, non-polluting emissions, and other special requirements of the tobacco, pharmaceutical, food, chemical and other industries, AGV application also be in focus. Many cigarette enterprises laser-guided AGV completed pallet cargo handling work such as Philip Morris tobacco company 、Royal tobacco company etc.5. Dangerous places and special servicesMilitarily, the AGV to the automatic driving-based Integrated detection and other demolition equipment, Mine can be used for battlefield reconnaissance and position, the British military is developing a MINDER Recce is a reconnaissance vehicle, with minedetection, destruction and the ability to route automatically verify type reconnaissance vehicles. In the steel plant, AGV Charge for delivery, reducing the labor intensity. In nuclear power plants and the use of nuclear radiation preservation of the storage sites, AGV used for the delivery to avoid the danger of radiation. In the film and film storage, AGV be in the dark environment, accurate and reliable transportation of materials and semi-finished products.Ⅲ AGV routes and scheduling methodAGV use of a route optimization and real-time scheduling AGV is the current field of a hotspot. Practical, it was the methods used are :programmingAGV to the task of choosing the best and the best path can be summed up as a task scheduling problem. Mathematical programming methods to solve scheduling problems is the optimal solution to the traditional method. The method of solving process is actually a resource constraint to the optimization process. Practical methods of the main integer programming, dynamic programming, petri methods. Scheduling of the small-scale cases, such methods can get better results, but with the increased scale of operation, Solving the problem of time-consuming exponential growth, limitations of the method in charge,mass-line optimization and scheduling application.Simulation of the actual scheduling environment modeling, AGV thereby to a scheduling program for the implementation of computer simulation. Users and researchers can use simulation means to scheduling program for testing, monitoring, thereby changing the selection and scheduling strategy. Practical use of a discrete event simulation methods, object-oriented simulation and three-dimensional simulation technology, Many AGV software can be used for scheduling simulation, which, Lanner Group Witness software can quickly build simulation models, Implementation of 3D simulation and demonstration of the results of the analysis.INTELLIGENCEA way for the activation process AGV described as a constraint in meeting the solution set Search optimal solution process. It said the use of knowledge of the technical knowledge included, Meanwhile the use of search technology seeks to provide a satisfactory solution. Specific methods of expert system, genetic algorithms, heuristics, neural network algorithm. Within this total, the expert system in which more practical use. It will dispatch experts abstract experience as a system can understand and implement the scheduling rules, and usingconflict resolution techniques to solve large-scale AGV scheduling rules and the expansion of the conflict.Because neural network with parallel computing, distributed storage knowledge, strong adaptability, and therefore, for it to become a large-scale AGV Scheduling is a very promising approach. At present, the neural network method for a successful TSP-NP problem solving. Neural networks can optimize the composition of the solution into a discrete dynamic system of energy function, through minimizing the energy function to seek optimization solution.Genetic algorithm simulates natural process of biological evolution and genetic variation and the formation of an optimal solution. Genetic algorithm for the optimization of the AGV scheduling problem, First through the coding of a certain number of possible scheduling program into the appropriate chromosome, and the calculation of each chromosome fitness (such as running the shortest path), through repeated reproduction, crossover, Find fitness variation large chromosomes, AGV scheduling problem that is the optimal solution.Using a single method to solve scheduling problems, there were some flaws. Currently, a variety of integration methods to solve the scheduling problem AGV is a hotspot. For example, expert system integration and genetic algorithm, expert knowledge into the chromosome of the initial formation of the group, Solution to accelerate the speed and quality.智能化的物流搬运机器人－AGV装卸搬运是物流的功能要素之一，在物流系统中发生的频率很高，占据物流费用的重要部分。
中英文文献翻译-现代工程机械行业的技术进步
英文原文Modern construction machinery industry of technical progress Large-size mechanical mining excavator is used widely in international and domestic engineering construction and mining performance, and its property defines the efficiency much.Now because the international market is opened step step, how to promote the quality of excavator is the key that a factory reinforces its competing force.In our country，the designing elevation and production quality on excavator can not keep up with international advanced technology applying on excavator.Now the advanced technology has already applied advanced designing method on excavator designing，such as electronic simulating theory，dynamic design，reliability design and so on.But in our country ,the most excavator design has still applied the traditional design method ,the modern design method has not began to be actually applied .The prime display is that the capability of self-design is not enough and the basic work has not done perfectly especially the excavator kinetics .The construct of excavator is very complex and the multiple movers often work simultaneously.at the same time its working environment is very bad and the eternal load varies randomly.As a result ,when designing the new product of excavator ,in order to ensure the performance safety，the designer not only has the basic theory analysis on static load computing ,but also do necessary work about the kinetics of mechanism to qualify the dynamic reliability in the period of designing .Trough the kinetic analysis ,the load property of all the elements in excavator can be decided so as to design reliable product .From the 1980s of the 20th century to the beginning of this century. Chinese and foreign engineering machinery technology products come from a maturity period of modernization along with a new technological revolution, Mechanical engineering products integrated technology to a new level. Electronic technology, micro-computer, sensors, electro-hydraulic servo control system integration and transformation of the traditional mechanical engineering products, Computer-aided design and computer-aided manufacturing and computer-aided management of construction machinery and equipment manufacturing, IT network technology equipment, construction machinery sales and information transfer systems, thus enabling people to see a brand new construction machinery industry. New construction machinery products in the efficiency and operational quality, environmental protection, performance and automation are many areas due to the past. and toward the further robotic and intelligent direction.1、operating principles of Innovation : groundbreaking new law with the high-frequency vibrationWith scientific and technological research in the development, engineering machinery operating theory is constantly innovating. Operating mechanical engineering principles, including the cutting of earth, broken ground on the screen geotextile material, mixed with heating, right mixture of paving, leveling and compaction, etc.. These operations Jimmy initially bionics and Newtonian mechanics-based, Modern science and the development of engineering machineryoperating principle of laying the foundation for innovation. For example, mechanical vibration and pulse jet, the photoelectric effect and thermal physics, the application of mechanical engineering to save resources and improve the quality of construction improve production efficiency, reliability and driving comfort and a degree of automation to create conditions.Excavators, bulldozers, loaders, and other earthmoving machinery cutting groundbreaking project, we had no struggle milling, high-frequency vibration, Liquid gas jet method and porous ground breaking law. Groundbreaking use of the new operating principle of transformation to a bucket, can loosen the soil excavation for the high-intensity rock, Under normal circumstances can reduce the unit cost of earthwork and improve production efficiency, and the soil near the building when substitute bored-blasting method.Vibratory Roller is a mechanical vibration and have reached a "sluggish vibration to" operational effectiveness of the most powerful note. High-frequency vibration compaction technology is the application of modern dynamics in the mechanical engineering important research results, In vibratory roller simultaneously with the application of vibration isolation theory. 90s of the 20th century, there have been a level of vibration (vibration) and vertical vibration directional vibration compaction method, and an AM-vibration and different from the harmonic vibration of chaotic vibration vibratory compaction operating principle, and the formation of the corresponding series of vibratory roller. Impact Roller broke the existing traditional cylindrical roller structure, Use 3-5 edge with the pressure roller polygon dragged by a tractor, 2-3 times per second in order to impact on the ground. This has dramatic impact on the seismic wave propagation characteristics, the depth of compaction several times with the RCC and incremental, 5m in the depths of the degree of compaction of up 90%-92%. Impact Roller is static shock, vibration and rub it smashes the comprehensive role for large fill, Collapse dry sand and soil filling the compaction.Asphalt paver Weiping equipment is operating principles of mechanical engineering innovation typical example. Fung plate diesel, liquefied petroleum gas or electric heating and 60 Hz frequency of vibration, and using infrared, ultrasonic or laser leveling, is a multidisciplinary high-tech applications. This leveling the technology can be applied to the ground plane, as amlodipine or fine leveling the slope.Transfer frequency mechanical vibration is also commonly used for drilling, stone crushing and sieving and Shen pulling piling works. The stone drying can use diesel, fuel oil and coal combustion of various fuels on the asphalt from the barrel, heating and asphalt mixture, stirring and insulation process is the full use of thermal theory of physics. Asphalt emulsion and some are modified chemical reaction physical specific application.2、drive innovation : universal hydraulic and electric driveHydraulic drive in the 20th century, the 1960s applied to the roller, only 10 years on the time has been spread and popularize. Now roller travel, vibration, steering and braking systems has achieved the full hydraulic drive. Hydraulic drive greatly simplified the roller drive and control system design, hydraulic drive a smooth, convenient manipulation effort, easy to achieve variablespeed and automation, in general, improve the production efficiency of roller compaction and quality. Now foreign markets have seen very little mechanical transmission of the roller.Hydrostatic drive technology in the 1970s began to use bulldozers, and will soon be extended to a number of small and medium bulldozers and loaders, the United States John Deere, Caterpillar, Germany Bohai benefit companies and Dole produced by Komatsu of Japan has production and sales pushed Temple hydraulic machines and loaders. Hydrostatic drive not to use hydraulic torque converter, which dispense with the left lane and brake parts and mechanical drive, use of a safety valve on mechanical and hydraulic systems overload protection, and the index of smaller power play biggest index, its remaining power available in the auxiliary machinery operation.German company Deutsche mark and Lee Bohai Fall of other public companies in 1954 and in 1955 took the lead in developing a hydraulic excavator , but the hydrostatic transmission in large excavator is the popularization and application of the 1970s. Since the early 1980s, excavators and subdivided, is gradually realized - powered, rotary and the hydraulic excavator of. In the international market excavators, were all eliminated various mechanical drive.Late history of the birth of the road is more mechanical hydraulic drive-based, such as paver, soil stabilizer, Pavement milling machine, hydraulic transmission smoothness help improve the quality of the roads paved. Drilling in the car and drilling machines, hydraulic transmission has replaced the previous aerodynamic, Wheeled modern cranes and machinery also piling work to the whole in the direction of hydraulic development.Electricity in industrial production while the application has a long history, but in mobile machinery is seldom used. This is because, firstly, to the motor capacity of, a motor with the same power as compared to the hydraulic motor, its weight and bulk to good times, to the machinery space layout brought great difficulties. In addition, the efficiency of electrical transmission over low efficiency and consumption of a large volume of non-ferrous metals. But electric drive can be well realized variable speed, braking and electrical power streaming -- Drive more convenient and easy to large tub, large excavator and large loaders, engine-generator-electric wheels will transfer power. Germany V ogele also been developed for electric power will transfer wheel. Germany V ogele also been developed electric drive an asphalt paver, the aircraft's systems are all rotary motor driven electricity, Only Hopper CDCC and comfort slab leveling tank still use hydraulic transmission. The other is the regional mobile operations in the smaller mining site, the use of electric drive large excavator loaders, Such use of electric drive power transmission cables without the engine installed on the machines.3、ergonomic innovations : a people-oriented and simplified operation1980s of the 20th century, Many of the world's largest engineering machinery manufacturing company has invested considerable human and financial resources for modern design methodology of the research and used. Ergonomics is a "people-oriented" design, with emphasis on the machines mutual coordination and crew safety, driving comfort, convenience in the driver's operation and maintenance technologies, such drivers both improved working conditions, andincreased production efficiency, and some of the engineering machinery vibration, noise, emissions and the prevention of roller drop from the development of the new standard, and even those laws.Now all kinds of projects are mechanical design roller defense and falling-object protective devices to protect the personal safety of the drivers, with the cab and are designed and installed. Indoor driving sufficient human space and broad vision, and to take the necessary seals, vibration, noise and temperature control measures. Indoor chairs, pieces of the stick, gauges and the monitor according to ergonomics and design and minimize the manipulation and control of parts. To reduce driver fatigue, to choose the suspension damping chairs, and to develop a gas-liquid system hanging with the cab floor.Electronic technology, mechanical engineering applications, which greatly simplifies the driver's operational procedures and to the machine's technical performance. The use of electronic control machine can automatically choose the mode of operation, such as excavators to the three operating modes -- boom priority, Rotary priorities and micro-adjustment tandem wheels all vibration and vibration. Electronic monitoring can detect and remove machines system failures, such as engine oil pressure loss. Fan fracture belt drive, hydraulic oil contamination or overheating and oil filter blockage, can promptly lights or audible alarm, by the use of electronic sensor device can handle automatic detection machines quality of the work, If random vibration testing of the degree of compaction roller, automatic detection and adjustment of the asphalt mixture ratio and size distribution outlet temperature.American muffler technology company developed an electronic silencer, electronic equipment engine exhaust noise analysis of the wave structure, and produce a phase difference of 180 ° with the acoustic interference, This "anti-noise" and the engine exhaust noise offset, which over the purpose of the muffler. Such a muffler -- can be used to eliminate the basic engine noise and the noise indoor driving. Muffler and isolation through the engineering machinery driving indoor noise can be reduced to 70dB (A) below.In addition, by concentrating on lubrication, automatic lubrication and fault alarm, greatly reducing the engineering and mechanical maintenance workload. Dreiser companies axis articulated loader lubrication cycle extended to 2000h. oil and filter replacement cycle extended to 250h; Caterpillar loader routine maintenance to shorten the time 3.45min. 100 hours use of the technical maintenance for only 6-7min.4、Creative : industrial design with the environmentModern science and technology of high-speed development, promoting social progress, for humanity to a high degree of material civilization and spiritual civilization. Industrial design is the product of industrial product design, product also known as the art form. Mechanical Products art forms should be able to demonstrate its function in a rational and external quality of uniformity, the product should reflect the advanced technology and meet the aesthetic requirements of modernity.For mechanical engineering, said it was "a Paper goods sold," That is an exaggeration, butnot to modeling design is certainly not desirable. Modeling the mechanical engineering design of the machine can shape their structure, function and use requirements, paying and with the psychological and physical coordination. This modeling design should include ministries of proper body fluid, color coordination, Instrumentation layout beautiful and easy to operate and intuitive sign in the trademark symbol. Now the world's major companies have attached great importance to the products of industrial design, and a specialized research and design.A world leader left the compactor manufacturers -- BMW, his third of the mechanical compaction machine modeling experts from the industrial design Louis.L.lepoix design, have a good overall result. The series dismounting replacement filter, transmission pieces, hoses and routine maintenance is very convenient. Adopt modern arc-shaped dip in the cab and the engine hood broadminded, fluent lines, with the flavor of the times. Driving the steering wheel height and angle adjustable, choose a comfortable high back seats adjustable damping. Drivers prepare for a good operating environment. Instrumentation site design, easier to observe and control, tilt hood of the driver to provide a good perspective. Hydraulic steering gear shifted to the cab, driving to reduce indoor heat and noise. Arc-shaped windscreen of the cab and four SUPPORT able to isolate noise and vibration. indoor noise below 70dB (A).Many other engineering machinery are also different degrees of emphasis on industrial design, layout components such as depression, to reduce the center of gravity of the aircraft; Supporting appropriate to expand the area to increase the machine's stability; about as symmetrical layout, to meet the aesthetic; Appearance removed some of the corner, the edge, to show the fluency, and other lines. Construction Machinery paint more of its industrial design is an important part of the unit should be interesting colors, increase the safety of the working environment, and with the field construction site is pure green fields, coordination, Topping the use of the waist line and increase the level to get off the color machines can increase the concentration of visual stability.5、artificial intelligence Innovation : intelligent robotic machinesMechanical engineering in the construction field instead of the manual to expand the functions of the hands and feet, traditional machinery can be resolved in good physical and physiological burden, not to mention the relief of spiritual and psychological burden. Modern engineering machinery should be given its soulful, intelligent engineering machinery is a thinking mind (microcomputer) sensorium (sensors), neural network (electronic transmission). Derrnatopathy (power and transmission), and hand, foot bones (work with devices running) for telecommunications systems integration.Machine is not electromechanical integration of telecommunications and information technology with a simple, it poses the system must have five functions : ①detection and identification with the objects of their work and working conditions of the function; ② goal with under their own decision-making function; ③have to respond to the decision-making, implementation support movement functions; ④with automated monitoring and self-revisionprocess functions; ⑤z own self-protection and security troubleshooting functions. This is the Intelligent Engineering Machinery some specific goals.In mechanical engineering intelligent process, from beginning to end, filled with self-learning technology and the use of adaptive technology. Now for the integration of telecommunications technology for the engine and hydraulic system and electrical system of full control machines are being given various feelings and wisdom. In the process with the state of real-time monitoring on the basis of mechanical engineering from the partial automation of the transition to full automation, and toward unmanned remote control and the trend of development. With the intervention of artificial intelligence, engineering machinery will accelerate its modern fast process, Gradual transition to a fully operational wisdom of the target robot. At that time, some new robotic operating procedures will come into being.中文译文现代工程机械行业的技术进步大型机械式挖掘机在目前国际国内在矿山开采及工程施工中有着广泛的应用，其性能的优劣对生产率有很大的影响.在国际市场竟争日趋激烈的今天，如何提高产品的质量是提高其市场竞争力的关键。
汽车起重机论文外文翻译
本科毕业设计（论文）外文翻译译文题目：使用智能液压缸增加起重机的稳定性学院：机电学院专业：机械设计制造及其自动化学生：XXX学号：1234567890指导教师：XXX完成时间：2017年3月12日From：Hitchcox, Alan. Smart cylinders stabilize cranes[J]. Hydraulics & Pneumatics; Cleveland (Sep 12, 2013): n/a.Smart cylinders stabilize cranesHitchcox, Alan.ASM International, Penton Media, OTP Industrial Solutions(formerly Ohio Transmission & Pump Co)Abstract：It's not unusual for cranes to reach 100 ft or more into the air at major construction sites. Traditionally, cranes are transported to a work area and assembled on-site. More recently, as truck-mounted cranes bee bigger and more powerful, they have found favor because they are quicker to set up than traditional cranes. Truck-mounted cranes have a telescoping hydraulic boom mounted on mercial truck chassis. Their portability and lower setup costs have led to their widespread use at construction and utility sites around the world. But as loads get heavier and lifting distances bee higher, designers of truck-mounted cranes must provide the stability to ensure that safety remains the top priority.Truck-mounted cranes use outrigger systems to ensure stable operation. The outriggers extend from the main body of the truck and contact the ground several feet away from the truck. This distributes the crane's load over a much larger area, thereby increasing stability. Manitowoc pany Inc., Manitowoc, Wis., takes this a step further by using smart cylinders in the A-frame outrigger systems of its National Crane line of truck-mounted cranes. The crane's hydraulic system is driven from a power takeoff on the truck's transmission. The crane operator then runs all crane functions through a series of lever-operated valves at a control station.The ELA is an externally mounted LDT that uses Hall-effect technology to sense the location of a magnet embedded in the cylinder's piston through the cylinder's carbon steel barrel. A microprocessor then assigns an analog voltage to the magnet's corresponding absolute position. For example, when the cylinder is fully retracted; the voltage may be 0.55 V. As the cylinder extends, the voltage gradually increases until 4.5 V is reached at full extension.Accuracy of the transducer is typically +-0.5 mm (0.02 in.) - more than adequate for most mobile equipment. That position is then sent to the ECM and pared to the known maximum horizontal extension. After this, an indication is given to the operator about the outrigger state. The position update happens within milliseconds.Full TextIt's not unusual for cranes to reach 100 ft or more into the air at major construction sites. Traditionally, cranes are transported to a work area and assembled on-site. More recently, as truck-mounted cranes bee bigger and more powerful, they have found favor because they are quicker to set up than traditional cranes. Truck-mounted cranes have a telescoping hydraulic boom mounted on mercial truck chassis. Their portability and lower setup costs have led to their widespread use at construction and utility sites around the world. But as loads get heavier and lifting distances bee higher, designers of truck-mounted cranes must provide the stability to ensure that safety remains the top priority.Truck-mounted cranes use outrigger systems to ensure stable operation. The outriggers extend from the main body of the truck and contact the ground several feet away from the truck. This distributes the crane's load over a much larger area, thereby increasing stability. Manitowoc pany Inc., Manitowoc, Wis., takes this a step further by using smart cylinders in the A-frame outrigger systems of its National Crane line of truck-mounted cranes. The crane's hydraulic system is driven from a power takeoff on the truck's transmission. The crane operator then runs all crane functions through a series of lever-operated valves at a control station.An important function for lifting, moving, and lowering heavy loads is to ensure that outrigger beams are properly positioned. The outriggers are attached to the truck frame and are extended downward by hydraulic cylinders at an angle to create an A-frame structure that is wider at its base than at the top. This provides a stable framework to level and support the loaded and extended crane.Adding smarts to outriggersFor the past several years, National Crane has added outrigger-monitoring systems (OMSs) to its cranes. With the OMS, operators monitor the horizontal extension of the crane's outriggers at a control station. The OMS used with A-frame model cranes includes an ELA position-sensing linear-displacement transducer (LDT) from Rota Engineering, Dallas, anelectronic control module (ECM), and bicolor indication LEDs at each station.The ELA is an externally mounted LDT that uses Hall-effect technology to sense the location of a magnet embedded in the cylinder's piston through the cylinder's carbon steel barrel. A microprocessor then assigns an analog voltage to the magnet's corresponding absolute position. For example, when the cylinder is fully retracted; the voltage may be 0.55 V. As the cylinder extends, the voltage gradually increases until 4.5 V is reached at full extension. Accuracy of the transducer is typically +-0.5 mm (0.02 in.) - more than adequate for most mobile equipment. That position is then sent to the ECM and pared to the known maximum horizontal extension. After this, an indication is given to the operator about the outrigger state. The position update happens within milliseconds.Mark Hoffman, of Rota Engineering, pointed out that because mobile equipment has a human operator, position feedback from cylinders generally only needs to be within hundredths of an inch. Put simply, he says that magnetostrictive LDTs are overkill for most mobile-equipment applications. He suggests that an LDT with slightly less precision, but substantially lower cost, would enable designers to provide cylinder position feedback more often - not just for the most critical applications that justify high cost.Simple electronic displayThe electronic control module on the A-frame units serves only to monitor the position of the outriggers and provide feedback to the operator. As the analog voltage from the ELA transducer is read into the ECM, it sends a signal to a set of bicolor LEDs - one set per operator's station. The indications available are:Red for system error (sensor out of range, electrical short, etc.).Blinking red to indicate the operator is not at a valid working position as directed by the operation manual.Green to inform the operator that full horizontal extension has been acplished. The ECM can be configured through the use of a service tool to also help diagnose any issues related to the OMS.Made for mobileDesigned for use with mobile equipment, the ELA transducer matches this application well because of several physical and intrinsic attributes. The most important of these is the ability to mount the sensor along the exterior of the hydraulic outrigger-cylinder barrel. Although thecylinder gains added functionality, in many cases it retains the same form and fit as the original cylinder; the smart cylinder is essentially a drop-in replacement. The envelope in which the cylinder is mounted does not change. Only additional harnessing and the ECM are added - plus there are minor physical changes to the rear stabilizers.The cylinder bores used in A-frame outriggers range from 3 to 4.5 in. Strokes may be as long as of 66.9 in., depending on lifting capacity. According to Hoffman added, "Eliminating the expense of gun-drilling the piston rod and machining the end cap reduces the cost of creating this smart cylinder. The cylinder's structural integrity remains the same, and it is easier to assemble, install, and service than cylinders with magnetostrictive sensors."Other positive attributes: the Hall-effect sensor is noncontact for long service life, its temperature rating is high, it performs well in high shock and vibration applications, and its aluminum housing resists damage from impact and corrosion. The external transducer can be replaced in the field without difficulty.Cylinders can be supplied with magnets already fitted, so that if the stroke-sensing function is required later, the transducer can easily be added. The magnet assembly for the EL transducer is designed to match the bore of the cylinder. A slot is milled into the piston to acmodate the magnet assembly. Service life is not a factor because the magnet assembly is made of the same quality as piston-wear rings.A different kind of linear sensorModel ELA linear-displacement transducers (LDTs) use Hall-effect technology and mount externally to mobile hydraulic cylinders. Unlike other types of in-cylinder LDTs, they can be used in double-ended cylinders. They can also be used effectively in steering and long-stroke cylinders, where gun drilling can bee cost prohibitive and are easily field replaceable.Hall-effect LDTs can be manufactured for strokes exceeding 50 ft and for use 20,000 ft below the surface of the ocean and other demanding environments.Hall-effect technologyLDTs from Rota Engineering use a microprocessor that transmits and receives signals from Hall-effect chips mounted to a printed-circuit board. The circuit board is contained within a stainless-steel or aluminum housing, depending on application requirements. A piston-mounted magnet causes a voltage drop when it passes over the Hall-effect chip. The microprocessor calculates the position of the Hall-effect chip and correlates the voltage drop toa proportional voltage, current, PWM, or CANbus output.Hoffman explains, "Hall-effect sensors do not have as high a resolution as magnetostrictive sensors, which can achieve resolution measured in ten-thousandths of an inch. Hall-effect LDTs, however, generally have resolution of 0.012 to 0.020 in. The tighter resolution of magnetostrictive LDTs is needed for many process applications, such as a rolling mill. Most of the time, though, 0.020-in. resolution is more than sufficient for mobile hydraulic applications."An additional benefit of the Hall-effect technology is small size. In most instances, the pin-to-pin dimension of a cylinder need not be increased to acmodate a Hall-effect LDT. Also, the surface-mount technology tolerates high levels of vibration, and potting can provide additional vibration resistance.For more information, contact Rota Engineering at (972) 359-1041, or visit .rota-eng.. For information on Manitowoc's truck-mounted cranes and other products, visit .manitowoc.译自：希契科克斯，艾伦. 使用智能液压缸增加起重机的稳定性[J]. 液压与气动技术；克利夫兰（2013年9月12日）：n/a使用智能液压缸增加起重机的稳定性希契科克斯，艾伦ASM国际片通媒体,OTP工业解决方案(以前俄亥俄州传输和泵)摘要:在大型的建筑工地上起重机将重物举至空中100英尺及以上的情况并不罕见。
机械专业外文翻译(中英文翻译)
Belt Conveying Systems Development of driving system Among the methods of material conveying employed，beltconveyors play a very important part in the reliablecarrying of material over long distances at competitivecost．Conveyor systems have become larger and more complex and drive systems have also been going through a process of evolution and will continue to do so．Nowadays，bigger belts require more power and have brought the need forlarger individual drives as well as multiple drives such as 3 drives of 750 kW for one belt(this is the case forthe conveyor drives in Chengzhuang Mine)．The ability to control drive acceleration torque is critical to beltconveyors’ performance．An efficient drive system should be able to provide smooth，soft starts while maintaining belt tensions within the specified safe limits．For load sharing on multiple drives．torque and speed control are also important considerations in the drive system’sdesign. Due to the advances in conveyor drive controltechnology，at present many more reliable．Cost-effective and performance-driven conveyor drive systems covering a wide range of power are available for customers’choices[1].1 Analysis on conveyor drive technologies1．1 Direct drivesFull-voltage starters．With a full-voltage starter design，the conveyor head shaft is direct-coupled to the motor through the gear drive．Direct full-voltage starters are adequate forrelatively low-power, simple-profile conveyors．With directfu11-voltage starters．no control is provided for various conveyor loads and．depending on the ratio between fu11-and no-1oad power requirements，empty starting times can be three or four times faster than full load．The maintenance-free starting system is simple，low-cost and very reliable．However, they cannot control starting torque and maximum stall torque；therefore．they are limited to the low-power, simple-profile conveyor belt drives．Reduced-voltage starters．As conveyor power requirements increase，controlling the applied motor torque during the acceleration period becomes increasingly important．Because motor torque 1s a function of voltage，motor voltage must be controlled．This can be achieved through reduced-voltage starters by employing a silicon controlled rectifier(SCR)．A common starting method with SCR reduced-voltage starters is to apply low voltage initially to take up conveyor belt slack．and then to apply a timed linear ramp up to full voltage and belt speed．However, this starting method will not produce constant conveyor belt acceleration．When acceleration is complete．the SCRs,which control the applied voltage to the electric motor． are locked in full conduction, providingfu11-line voltage to the motor．Motors with higher torque and pull—up torque，can provide better starting torque when combined with the SCR starters, which are available in sizes up to 750 KW．Wound rotor induction motors．Wound rotor induction motors are connected directly to the drive system reducer and are amodified configuration of a standard AC induction motor．By inserting resistance in series with the motor’s rotor windings．the modified motor control system controls motor torque．For conveyor starting，resistance is placed in series with the rotor for low initial torque．As the conveyor accelerates，the resistance is reduced slowly to maintain a constant acceleration torque．On multiple-drive systems．an external slip resistor may be left in series with the rotor windings to aid in load sharing．The motor systems have a relatively simple design．However, the control systems for these can be highly complex，because they are based on computer control of the resistance switching．Today，the majority of control systems are custom designed to meet a conveyor system’s particular specifications．Wound rotor motors are appropriate for systems requiring more than 400 kW ．DC motor．DC motors．available from a fraction of thousands of kW ，are designed to deliver constant torque below base speed and constant kW above base speed to the maximum allowable revolutions per minute(r/min)．with the majority of conveyor drives, a DC shunt wound motor is used．Wherein the motor’s rotating armature is connected externally．The most common technology for controlling DC drives is a SCR device． which allows for continual variable-speed operation．The DC drive system is mechanically simple, but can include complex custom-designed electronics to monitor and control the complete system．This system option is expensive in comparison to other soft-start systems．but it isa reliable, cost-effective drive in applications in which torque,1oad sharing and variable speed are primary considerations．DC motors generally are used with higher-power conveyors，including complex profile conveyors with multiple-drive systems，booster tripper systems needing belt tension control and conveyors requiring a wide variable-speed range．1．2 Hydrokinetic couplingHydrokinetic couplings，commonly referred to as fluid couplings．are composed of three basic elements; the driven impeller, which acts as a centrifugal pump；the driving hydraulic turbine known as the runner and a casing that encloses the two power components．Hydraulic fluid is pumped from the driven impeller to the driving runner, producing torque at the driven shaft．Because circulating hydraulicfluid produces the torque and speed，no mechanical connection is required between the driving and driven shafts．The power produced by this coupling is based on the circulated fluid’s amount and density and the torque in proportion to input speed．Because the pumping action within the fluid coupling depends on centrifugal forces．the output speed is less than the input speed．Referred to as slip．this normally is between l% and 3%．Basic hydrokinetic couplings are available in configurations from fractional to several thousand kW ．Fixed-fill fluid couplings．Fixed-fill fluid couplings are the most commonly used soft-start devices for conveyors with simpler belt profiles and limited convex/concave sections．They are relatively simple,1ow-cost,reliable,maintenance free devices that provide excellent soft starting results to themajority of belt conveyors in use today．Variable-fill drain couplings．Drainable-fluid couplings work on the same principle as fixed-fill couplings．The coupling’s impellers are mounted on the AC motor and the runners on the driven reducer high-speed shaft．Housing mounted to the drive base encloses the working circuit．The coupling’s rotating casing contains bleed-off orifices that continually allow fluid to exit the working circuit into a separate hydraulic reservoir．Oil from the reservoir is pumped through a heat exchanger to a solenoid-operated hydraulic valve that controls the filling of the fluid coupling．To control the starting torque of a single-drive conveyor system，the AC motor current must be monitored to provide feedback to the solenoid control valve．Variable fill drain couplings are used in medium to high-kW conveyor systems and are available in sizes up to thousands of kW ．The drives can be mechanically complex and depending on the control parameters．the system can be electronically intricate．The drive system cost is medium to high, depending upon size specified．Hydrokinetic scoop control drive．The scoop control fluid coupling consists of the three standard fluid coupling components：a driven impeller, a driving runner and a casing that encloses the working circuit．The casing is fitted with fixed orifices that bleed a predetermined amount of fluid into a reservoir．When the scoop tube is fully extended into the reservoir, the coupling is l00 percent filled．The scoop tube, extending outside the fluid coupling，is positioned using anelectric actuator to engage the tube from the fully retracted to the fully engaged position．This control provides reasonably smooth acceleration rates．to but the computer-based control system is very complex．Scoop control couplings are applied on conveyors requiring single or multiple drives from l50 kW to 750 kW.1．3 Variable-frequency control(VFC)Variable frequency control is also one of the direct drive methods．The emphasizing discussion about it here is because that it has so unique characteristic and so good performance compared with other driving methods for belt conveyor． VFC devices Provide variable frequency and voltage to the induction motor, resulting in an excellent starting torque and acceleration rate for belt conveyor drives．VFC drives．available from fractional to several thousand(kW ), are electronic controllers that rectify AC line power to DC and，through an inverter, convert DC back to AC with frequency and voltage contro1．VFC drives adopt vector control or direct torque control(DTC)technology，and can adopt different operating speeds according to different loads．VFC drives can make starting or stalling according to any given S-curves．realizing the automatic track for starting or stalling curves．VFC drives provide excellent speed and torque control for starting conveyor belts．and can also be designed to provide load sharing for multiple drives．easily VFC controllers are frequently installed on lower-powered conveyor drives，but when used at the range of medium-high voltage in the past．the structure of VFC controllers becomes verycomplicated due to the limitation of voltage rating of power semiconductor devices，the combination of medium-high voltage drives and variable speed is often solved with low-voltage inverters using step-up transformer at the output，or with multiple low-voltage inverters connected in series．Three-level voltage-fed PWM converter systems are recently showing increasing popularity for multi-megawatt industrial drive applications because of easy voltage sharing between the series devices and improved harmonic quality at the output compared to two-level converter systems With simple series connection of devices．This kind of VFC system with three 750 kW /2．3kV inverters has been successfully installed in ChengZhuang Mine for one 2．7-km long belt conveyor driving system in following the principle of three-level inverter will be discussed in detail．2 Neutral point clamped(NPC)three-level inverter using IGBTsThree-level voltage-fed inverters have recently become more and more popular for higher power drive applications because of their easy voltage sharing features．1ower dv/dt per switching for each of the devices，and superior harmonic quality at the output．The availability of HV-IGBTs has led to the design of a new range of medium-high voltage inverter using three-level NPC topology．This kind of inverter can realize a whole range with a voltage rating from 2．3 kV to 4．1 6 kV Series connection of HV-IGBT modules is used in the 3．3 kV and 4．1 6 kV devices．The 2．3 kV inverters need only one HV-IGBT per switch[2,3].2．1 Power sectionTo meet the demands for medium voltage applications．a three-level neutral point clamped inverter realizes the power section．In comparison to a two-level inverter．the NPC inverter offers the benefit that three voltage levels can be supplied to the output terminals，so for the same output current quality，only 1/4 of the switching frequency is necessary．Moreover the voltage ratings of the switches in NPC inverter topology will be reduced to 1/2．and the additional transient voltage stress on the motor can also be reduced to 1/2 compared to that of a two-level inverter．The switching states of a three-level inverter are summarized in Table 1．U．V and W denote each of the three phases respectively；P N and O are the dc bus points．The phase U，for example，is in state P(positive bus voltage)when the switches S1u and S2u are closed，whereas it is in state N (negative bus voltage) when the switches S3u and S4u are closed．At neutral point clamping，the phase is in O state when either S2u or S3u conducts depending on positive or negative phase current polarity，respectively．For neutral point voltage balancing，the average current injected at O should be zero．2．2 Line side converterFor standard applications．a l2-pulse diode rectifier feeds the divided DC-link capacitor．This topology introduces low harmonics on the line side．For even higher requirements a 24-pulse diode rectifier can be used as an input converter．For more advanced applications where regeneration capability is necessary, an active front．end converter can replace thediode rectifier, using the same structure as the inverter．2．3 Inverter controlMotor Contro1．Motor control of induction machines is realized by using a rotor flux．oriented vector controller．Fig．2 shows the block diagram of indirect vector controlled drive that incorporates both constant torque and high speed field-weakening regions where the PW M modulator was used．In this figure，the command fluxis generated as function of speed．The feedback speed is added with the feed forward slip command signal. the resulting frequency signal is integrated and thenthe unit vector signals(cosand sin)are generated．The vector rotator generates the voltageand anglecommands for the PW M as shown．PWM Modulator．The demanded voltage vector is generated using an elaborate PWM modulator．The modulator extends the concepts of space-vector modulation to the three-level inverter．The operation can be explained by starting from a regularly sampled sine-triangle comparison from two-level inverter．Instead of using one set of reference waveforms and one triangle defining the switching frequency， the three-level modulator uses two sets of reference waveforms U r1 and U r2 and just one triangle．Thus, each switching transition isused in an optimal way so that several objectives are reached at the same time．Very low harmonics are generated．The switching frequency is low and thus switching losses are minimized．As in a two-level inverter, a zero-sequence component can be added to each set of reference waveform s in order to maximize the fundamental voltage component．As an additional degree of freedom，the position of the reference waveform s within the triangle can be changed．This can be used for current balance in the two halves of the DC-1ink．3 Testing resultsAfter Successful installation of three 750 kW /2．3 kV three-level inverters for one 2．7 km long belt conveyor driving system in Chengzhuang Mine．The performance of the whole VFC system was tested．Fig．3 is taken from the test，which shows the excellent characteristic of the belt conveyor driving system with VFC controller．Fig．3 includes four curves．The curve 1 shows the belt tension．From the curve it can be find that the fluctuation range of the belt tension is very smal1．Curve 2 and curve 3 indicate current and torque separately．Curve 4 shows the velocity of the controlled belt．The belt velocity havethe“s”shape characteristic．A1l the results of the test showa very satisfied characteristic for belt driving system．4 ConclusionsAdvances in conveyor drive control technology in recent years have resulted in many more reliable．Cost-effective and performance-driven conveyor drive system choices for users．Among these choices，the Variable frequency control (VFC) method shows promising use in the future for long distancebelt conveyor drives due to its excellent performances．The NPC three-level inverter using high voltage IGBTs make the Variable frequency control in medium voltage applications become much more simple because the inverter itself can provide the medium voltage needed at the motor terminals，thus eliminating the step-up transformer in most applications in the past．The testing results taken from the VFC control system with NPC three．1evel inverters used in a 2．7 km long belt conveyor drives in Chengzhuang Mine indicates that the performance of NPC three-level inverter using HV-IGBTs together with the control strategy of rotor field-oriented vector control for induction motor drive is excellent for belt conveyor driving system．中文译文：带式输送机及其牵引系统在运送大量的物料时，带式输送机在长距离的运输中起到了非常重要的竞争作用。
机器视觉在智能制造中的应用(英文中文双语版优质文档)
机器视觉在智能制造中的应用（英文中文双语版优质文档）In recent years, with the continuous development of computer vision and artificial intelligence technology, the application of machine vision in intelligent manufacturing has become more and more extensive. Machine vision technology can not only improve the efficiency and precision of the manufacturing process, but also enable higher levels of automated control and monitoring. This article will delve into the application of machine vision in intelligent manufacturing, including industrial automation, robotics, and intelligent inspection.1. Industrial automationIn manufacturing, industrial automation is one of the most common applications of machine vision. Industrial automation usually requires real-time monitoring and control of the manufacturing process to ensure the quality and efficiency of production. Using machine vision technology, the production line and machine equipment in the manufacturing process can be monitored in real time, so as to ensure the stability and consistency of the manufacturing process. For example, in an automated assembly line, machine vision technology can detect and match parts, thereby improving assembly efficiency and accuracy.2. RoboticsRobots usually need to perceive and recognize the surrounding environment in order to be able to act and make decisions autonomously. Machine vision technology can provide real-time visual data for robots, enabling them to recognize and perceive the environment more accurately. For example, in industrial production, robots can use machine vision technology to monitor and control the production line, so that they can complete assembly, packaging and other operations autonomously.3. Intelligent detectionintelligent detection. Intelligent detection usually needs to recognize and classify complex objects in order to realize automatic detection and judgment. Using machine vision technology, objects can be accurately identified and classified, enabling higher levels of automated inspection. For example, in the manufacturing industry, machine vision technology can be used to detect and evaluate product quality, so that product defects and problems can be quickly found.Summarize:Machine vision technology has a wide range of applications in intelligent manufacturing, which can provide more efficient, more accurate and more automated solutions for the manufacturing industry. Among them, industrial automation, robotics and intelligent detection are the three most prominent areas of machine vision applications. In industrial automation, machine vision technology can improve the efficiency and accuracy of the manufacturing process; in robotics, machine vision technology can provide real-time visual data for robots so that they can operate more intelligently; in the field of intelligent detection, Machine vision technology can recognize and classify complex objects, enabling higher levels of automated inspection.With the continuous development of machine vision technology, its application prospects in intelligent manufacturing will be broader. In the future, machine vision technology will be more widely used in various fields of intelligent manufacturing, providing more and better solutions for the manufacturing industry.近年来，随着计算机视觉和人工智能技术的不断发展，机器视觉在智能制造中的应用也越来越广泛。
机械外文文献翻译----起重机调度与空间限制
文献翻译“Fatigue life prediction of the metalwork of atravelling gantry crane”
龙门起重机金属结构的疲劳寿命预测V.A.Kopnov摘要内在的疲劳曲线应用到龙门起重机金属结构的疲劳寿命预测问题。
被用在森林工业中的起重机在林场里对各种不同的工况进行研究，并且做出相应的应变测量。
对负载的循环周期进行计算，下雨循环计数技术得到了应用。
为了得到周期的平均数，在一年内这些起重机运作的样本被观察。
疲劳失效分析表明，一些元件的故障是自然的系统因素造成的，而不能用一些随意的原因来解释。
1999年Elsevier公司科学有限公司。
保留所有权利。
关键词：起重机、疲劳评估、应变测量1.绪论频繁观测龙门起重机LT62B在工作时金属结构疲劳失效。
疲劳裂纹沿着起重机的主梁焊接接头进行传播，并且能坚持三四年。
这种起重机在森林工业的伐木林场被广泛使用，用来转移完整长度的原木和锯木到火车上，起重量达到32吨。
这种类型的起重机大约有1000台工作在俄罗斯森林工业的企业中。
问题在于找到限制起重机寿命的最薄弱的因素，预测其疲劳强度，并给制造商建议，以提高起重机的寿命。
2.起重机运行分析为了分析，在叶卡特琳堡地区的林场码头选中了一台龙门起重机LT62B，这台起重机能供应两台在伐木场建立的存储仓库，并且能转运木头到火车上，这条铁路通过存储仓库。
这些设备被安装使得货物能在起重机的跨度范围内转运。
一个起重机的示意图如图1.图1 起重机简图检查起重机的工作之后就可能做出一系列的假设：·如果每月从森林里运走的原木超过加工率，即使有一个原木存储的仓库，这个起重机所能做的工作，也只是转运到加工的原木的堆数在所供给的实际原木堆数的平均值之下；·当加工率超过原木从森林运出的速度时，起重机就希望操作量更大些，相当于木材数量越多锯木厂赚取的越少；·原木仓库不同；大量的木材的高度被认为是最高的；·仓库在锯木场的一侧发生变化；·加工总量大于平均1.4倍的由于额外运输的总量。
2.1搬运强度据了解，每年的搬运强度是无规律的，不能被视为一个平稳的过程。
机械工程专业英语第二版必考翻译(完整版)
1.With low-power machinery or vehicles the operator can usually apply sufficient force through a simple mechanical linkage from the pedle or handle to the stationary part of the brake. In many cases, however, this force must be multiplied by using an elaborate braking system.（P5）用低能机器或传力工具，操作者通过向踏板或把手的一个简单机械连接构件作用足够的力量到车闸固定的部分。
大多数情况，然而，用一个详细（复杂）的车闸系统使这个力量成倍增加。
2. The fundamental principle involved is the use of compressed air acting through a piston in a cylinder to set block brakes on the wheels. The action is simultaneous on the wheels of all the cars in the train. The compressed air is carried through a strong hose from car to car with couplings between cars; its release to all the separate block brake units, at the same time, is controlled by the engineer. (Braking Systems)（P5）相关的基本原理是使用压缩气体，通过气缸内的活塞将闸块压在车轮起作用。
工业机械手外文文献翻译、中英文翻译
第一章概述1. 1机械手的发展历史人类在改造自然的历史进程中，随着对材料、能源和信息这三者的认识和用，不断创造各种工具（机器），满足并推动生产力的发展。
工业社会向信息社会发展，生产的自动化，应变性要求越来越高，原有机器系统就显得庞杂而不灵活，这时人们就仿造自身的集体和功能，把控制机、动力机、传动机、工作机综合集中成一体，创造了“集成化”的机器系统——机器人。
从而引起了生产系统的巨大变革，成为“人——机器人——劳动对象”，或者“人——机器人——动力机——工作机——劳动对象”。
机器人技术从诞生到现在，虽然只有短短三十几年的历史，但是它却显示了旺盛的生命力。
近年来，世界上对于发展机器人的呼声更是有增无减，发达国家竞相争先，发展中国家急起直追。
许多先进技术国家已先后把发展机器人技术列入国家计划，进行大力研究。
我国的机器人学的研究也已经起步，并把“机器人开发研究”和柔性制造技术系统和设备开发研究等与机器人技术有关的研究课题列入国家“七五”、“八五”科技发展计划以及“八六三”高科技发展计划。
工业机械手是近代自动控制领域中出现的一项新技术，并已经成为现代机械制造生产系统中的一个重要组成部分。
这种新技术发展很快，逐渐形成一门新兴的学科——机械手工程。
1. 2机械手的发展意义机械手的迅速发展是由于它的积极作用正日益为人们所认识：其一、它能部分地代替人工操作；其二、它能按照生产工艺的要求，遵循一定的程序、时间和位置来完成工件的传送和装卸；其三、它能操作必要的机具进行焊接和装配。
从而大大地改善工人的劳动条件，显著地提高劳动生产率，加快实现工业生产机械化和自动化的步伐。
因而，受到各先进工业国家的重视，投入大量的人力物力加以研究和应用。
近年来随着工业自动化的发展机械手逐渐成为一门新兴的学科，并得到了较快的发展。
机械手广泛地应用于锻压、冲压、锻造、焊接、装配、机加、喷漆、热处理等各个行业。
特别是在笨重、高温、有毒、危险、放射性、多粉尘等恶劣的劳动环境中，机械手由于其显著的优点而受到特别重视。
桥式起重机外文译文
、重庆科技学院学生毕业设计（论文）外文译文`学院机械与动力工程学院专业班级机设普08级-04 ￥学生姓名杜再勇学号 07译文要求1.外文翻译必须使用签字笔，手工工整书写，或用A4纸打印。
2.所选的原文不少于10000印刷字符，其内容必须与课题或专业方向紧密相关，由指导教师提供，并注明详细出处。
3.外文翻译书文本后附原文（或复印件）。
…/（译自：Journal of Dynamic Systems, Measurement, and ControlMay 2008，034504-1，双梁桥式起重机扭振的输入型控制技术 William Singhose Dooroo Kim Michael Kenison Sugar Land佐治亚理工学院伍德拉夫学校机械工程学院振幅大对于起重机的安全和正常运行具有很大的影响。
在一定条件下，创建一个双钟摆效应会使问题更加复杂。
大多数起重机控制技术表明单摆控制是有效的。
一些研究人员已经证明：通过单模振荡可以大大减少起重机电机输入正确塑造。
本文建立在以前的理论基础上创造一个可以抑制双摆载荷振荡的方法。
输入整形控制器设计有一个便携式的桥式起重机上执行两个作业变化的稳健性，是用于验证这种方法的有效性和稳健性来输入整形。
1．前言大多数重要地方，例如核电厂，仓库，建筑工地，和船厂等地的重物操纵是由起重机完成。
更不幸的是，起重机载荷的自然摆动，会造成安全隐患，时间延迟，定位精度的退化。
起重机控制的前期工作，多集中于单摆动力学或悬挂单摆长度的变化.如果考虑利用计算机控制器和控制设计中考虑电缆摆动，时间最优的命令，是否可以产生零残留振动的结果呢答案是不，因为悬挂的横向运动过程中的有效载荷增加了控制的难度，振荡频率是时变。
基于时变和非线性模型的最优控制可能难以产生即使产生最佳的命令，实现可能是不切实际的，因为最后的设定值必须知道在一开始就确定。
当反馈测量，自适应控制器一起组合开启时，闭环控制才是可能的。
数控机床外文文献翻译、中英文翻译
1 原文一CNC machine tools Outdate, J. and Joe, J. Configuration Synthesis of Machining Centers with Tool ，John Wiley & sons, 2001 While the specific intention and application for CNC machines vary from one machine type to another, all forms of CNC have common benefits. Here are but a few of the more important benefits offered by CNC equipment. The The first first first benefit benefit benefit offered offered offered by by by all all all forms forms forms of of of CNC CNC CNC machine machine machine tools tools tools is is is improved improved automation. automation. The The The operator operator operator intervention intervention intervention related related related to to to producing producing producing work work work pieces pieces pieces can can can be be reduced reduced or or or eliminated. eliminated. eliminated. Many Many Many CNC CNC CNC machines machines machines can can can run run run unattended unattended unattended during during during their their their entire entire machining machining cycle, cycle, cycle, freeing freeing freeing the the the operator operator operator to to to do do do other other other tasks. tasks. tasks. This This This gives gives gives the the the CNC CNC CNC user user several several side side side benefits benefits benefits including including including reduced reduced reduced operator operator operator fatigue, fatigue, fatigue, fewer fewer fewer mistakes mistakes mistakes caused caused caused by by human human error, error, error, and and and consistent consistent consistent and and and predictable predictable predictable machining machining machining time time time for for for each each each work work work piece. piece. Since the machine will be running under program control, the skill level required of the CNC operator (related to basic machining practice) is also reduced as compared to a machinist producing work pieces with conventional machine tools. The second major benefit of CNC technology is consistent a nd accurate work and accurate work pieces. Today's CNC machines boast almost unbelievable accuracy and repeatability specifications. This means that once a program is verified, two, ten, or one thousand identical work pieces can be easily produced with precision and consistency. A third benefit offered by most forms of CNC machine tools is flexibility. Since these these machines machines machines are are are run run run from from from programs, programs, programs, running running running a a a different different different workpiece workpiece workpiece is is is almost almost almost as as easy as loading a different program. Once a program has been verified and executed for one production run, it can be easily recalled the next time the workpiece is to be run. This leads to yet another benefit, fast change over. Since these machines are very easy to set up and run, and since programs can be easily loaded, they allow very short setup time. This is imperative with today's just-in-time (JIT) product requirements. Motion control - the heart of CNC The The most most most basic basic basic function function function of of of any any any CNC CNC CNC machine machine machine is is is automatic, automatic, automatic, precise, precise, precise, and and consistent consistent motion motion motion control. control. control. Rather Rather Rather than than than applying applying applying completely completely completely mechanical mechanical mechanical devices devices devices to to cause cause motion motion motion as as as is is is required required required on on on most most most conventional conventional conventional machine machine machine tools, tools, tools, CNC CNC CNC machines machines allow motion control in a revolutionary manner2. All forms of CNC equipment have two two or or or more more more directions directions directions of of of motion, motion, motion, called called called axes. axes. axes. These These These axes axes axes can can can be be be precisely precisely precisely and and automatically automatically positioned positioned positioned along along along their their their lengths lengths lengths of of of travel. travel. travel. The The The two two two most most most common common common axis axis types are linear (driven along a straight path) and rotary (driven along a circular path). Instead of causing motion by turning cranks and handwheels as is required on conventional machine tools, CNC machines allow motions to be commanded through programmed programmed commands. commands. commands. Generally Generally Generally speaking, speaking, speaking, the the the motion motion motion type type type (rapid, (rapid, (rapid, linear, linear, linear, and and circular), the axes to move, the amount of motion and the motion rate (federate) are programmable with almost all CNC machine tools. A CNC command executed within the control tells the drive motor to rotate a precise number of times. The rotation of the drive motor in turn rotates the ball screw. And the ball screw drives the linear axis (slide). A feedback device (linear scale) on the slide allows the control to confirm that the commanded number of rotations has taken place3. Refer to fig.1. fig.1 typical drive system of a CNC machine tool Though a rather crude analogy, the same basic linear motion can be found on a common table vise. As you rotate the vise crank, you rotate a lead screw that, in turn, drives the movable jaw on the vise. By comparison, a linear axis on a CNC machine tool is extremely precise. The number of revolutions of the axis drive motor precisely controls the amount of linear motion along the axis. How axis motion is commanded - understanding coordinate systems It would be infeasible for the CNC user to cause axis motion by trying to tell each axis drive motor how many times to rotate in order to command a given linear motion motion amount4. amount4. amount4. (This (This (This would would would be be be like like like having having having to to to figure figure figure out out out how how how many many many turns turns turns of of of the the handle on a table vise will cause the movable jaw to move exactly one inch!) Instead, all CNC controls allow axis motion to be commanded in a much simpler and more a much simpler and more logical logical way way way by by by utilizing utilizing utilizing some some some form form form of of of coordinate coordinate coordinate system. system. system. The The The two two two most most most popular popular coordinate coordinate systems systems systems used used used with with with CNC CNC CNC machines machines machines are are are the the the rectangular rectangular rectangular coordinate coordinate coordinate system system and and the the the polar polar polar coordinate coordinate coordinate system. system. system. By By By far, far, far, the the the more more more popular popular popular of of of these these these two two two is is is the the rectangular coordinate system. The program zero point establishes the point of reference for motion commands in in a a a CNC CNC CNC program. program. program. This This This allows allows allows the the the programmer programmer programmer to to to specify specify specify movements movements movements from from from a a common common location. location. location. If If If program program program zero zero zero is is is chosen chosen chosen wisely, wisely, wisely, usually usually usually coordinates coordinates coordinates needed needed needed for for the program can be taken directly from the print. With this technique, if the programmer wishes the tool to be sent to a position one one inch inch inch to to to the the the right right of of the the the program program program zero zero zero point, point, point, X1.0 X1.0 X1.0 is is is commanded. commanded. If If the the programmer wishes the tool to move to a position one inch above the program zero point, Y1.0 is commanded. The control will automatically determine how many times to rotate each axis drive motor and ball screw to make the axis reach the commanded destination point . This lets the programmer command axis motion in a very logical manner. Refer to fig.2, 3. fig.2, 3. Understanding absolute versus incremental motion All discussions to this point assume that the absolute mode of programming is used6. The most common CNC word used to designate the absolute mode is G90. In the absolute mode, the end points for all motions will be specified from the program zero point. For beginners, this is usually the best and easiest method of specifying end points for motion commands. However, there is another way of specifying end points for axis motion. In the incremental mode (commonly specified by G91), end points for motions are are specified specified specified from from from the the the tool's tool's tool's current current current position, position, position, not not not from from from program program program zero. zero. zero. With With With this this method method of of of commanding commanding commanding motion, motion, motion, the the the programmer programmer programmer must must must always always always be be be asking asking asking "How "How "How far far should should I I I move move move the the the tool?" tool?" tool?" While While While there there there are are are times times times when when when the the the incremental incremental incremental mode mode mode can can can be be very helpful, generally speaking, this is the more cumbersome and difficult method of specifying motion and beginners should concentrate on using the absolute mode. Be Be careful careful careful when when when making making making motion motion motion commands. commands. commands. Beginners Beginners Beginners have have have the the the tendency tendency tendency to to think think incrementally. incrementally. incrementally. If If If working working working in in in the the the absolute absolute absolute mode mode mode (as (as (as beginners beginners beginners should), should), should), the the programmer should always be asking "To what position should the tool be moved?" This position is relative to program zero, NOT from the tools current position. Aside Aside from from from making making making it it it very very very easy easy easy to to to determine determine determine the the the current current current position position position for for for any any command, another benefit of working in the absolute mode has to do with mistakes made during motion commands. In the absolute mode, if a motion mistake is made in one one command command command of of of the the the program, program, program, only only only one one one movement movement movement will will will be be be incorrect. incorrect. incorrect. On On On the the the other other hand, if a mistake is made during incremental movements, all motions from the point of the mistake will also be incorrect. Assigning program zero Keep in mind that the CNC control must be told the location of the program zero point by one means or another. How this is done varies dramatically from one CNC machine and control to another8. One (older) method is to assign program zero in the program. program. With this With this method, the programmer tells the control how far it is from from the the program program zero point to zero point to t he starting position of the machine. This the starting position of the machine. This is is commonly done commonly done with a G92 (or G50) command at least at the beginning of the program and possibly at the beginning of each tool. Another, newer and better way to assign program zero is through some form of offset. Refer to fig.4. Commonly machining center control manufacturers call offsets used to assign program zero fixture offsets. Turning center manufacturers commonly call offsets used to assign program zero for each tool geometry offsets. fig.4 assign program zero through G54 Flexible manufacturing cells A flexible manufacturing cell (FMC) can be considered as a flexible manufacturing subsystem. The following differences exist between the FMC and the FMS: 1. An FMC is not under the direct control of the central computer. Instead, instructions from the central computer are passed to the cell controller. 2. The cell is limited in the number of part families it can manufacture. The following elements are normally found in an FMC: • Cell controller • Programmable logic controller (PLC) • More than one machine tool • A materials handling device (robot or pallet) The The FMC FMC FMC executes executes executes fixed fixed fixed machining machining machining operations operations operations with with with parts parts parts flowing flowing flowing sequentially sequentially between operations. High speed machining The term High Speed Machining (HSM) commonly refers to end milling at high rotational rotational speeds speeds speeds and and and high high high surface surface surface feeds. feeds. feeds. For For For instance, instance, instance, the the the routing routing routing of of of pockets pockets pockets in in aluminum airframe sections with a very high material removal rate1. Refer to fig.5 for the cutting data designations and for mulas. Over the past 60 60 years, HSM years, HSM has been applied to a wide range of metallic and non-metallic workpiece materials, including the the production production production of of of components components components with with with specific specific specific surface surface surface topography topography topography requirements requirements requirements and and machining machining of of of materials materials materials with with with hardness hardness hardness of of of 50 50 50 HRC HRC HRC and and and above. above. above. With With most most steel steel components components hardened hardened hardened to to to approximately approximately approximately 32-42 32-42 32-42 HRC, HRC, HRC, machining machining machining options options options currently currently include: Fig.5 cutting data rough rough machining machining machining and and and semi-finishing semi-finishing semi-finishing of of of the the the material material material in in in its its its soft soft soft (annealed) (annealed) condition heat treatment to achieve the final required hardness = 63 HRC machining of electrodes and Electrical Discharge Machining (EDM) of specific parts of dies and moulds (specifically small radii and deep cavities with limited accessibility for metal cutting cutting tools) tools) tools) finishing finishing finishing and and and super-finishing super-finishing super-finishing of of of cylindrical/flat/cavity cylindrical/flat/cavity cylindrical/flat/cavity surfaces surfaces surfaces with with appropriate cemented carbide, cermets, solid carbide, mixed ceramic or polycrystalline cubic boron nitride (PCBN) For many components, the production process involves a combination of these options options and and and in in in the the the case case case of of of dies dies dies and and and moulds moulds moulds it it it also also also includes includes includes time time time consuming consuming consuming hand hand finishing. Consequently, production costs can be high and lead times excessive. It is typical in the die and mould industry to produce one or just a few tools of the same design. The process involves constant changes to the design, and because of these changes there is also a corresponding need for measuring and reverse engineering. The main criteria are the quality level of the die or mould regarding dimensional, geometric and surface accuracy. If the quality level after machining is poor and if it cannot meet the requirements, there will be a varying need of manual finishing work. This work produces satisfactory surface accuracy, but it always has a negative impact on the dimensional and geometric accuracy. One of the main aims for the die and mould industry has been, and still is, to reduce or eliminate the need for manual polishing and thus improve the quality and shorten the production costs and lead times. Main economical and technical factors for the development of HSM Survival The The ever ever ever increasing increasing increasing competition competition competition in in in the the the marketplace marketplace marketplace is is is continually continually continually setting setting setting new new standards. The demands on time and cost efficiency is getting higher and higher. This has forced the development of new processes and production techniques to take place. HSM provides hope and solutions... Materials The development of new, more difficult to machine materials has underlined the necessity necessity to to to find find find new new new machining machining machining solutions. solutions. solutions. The The The aerospace aerospace aerospace industry industry industry has has has its its its heat heat resistant resistant and and and stainless stainless stainless steel steel steel alloys. alloys. alloys. The The The automotive automotive automotive industry industry industry has has has different different different bimetal bimetal compositions, Compact Graphite Iron and an ever increasing volume of aluminum3. The The die die die and and and mould mould mould industry industry industry mainly mainly mainly has has has to to to face face face the the the problem problem problem of of of machining machining machining high high hardened tool steels, from roughing to finishing. Quality The The demand demand demand for for for higher higher higher component component component or or or product product product quality quality quality is is is the the the result result result of of of ever ever increasing competition. HSM, if applied correctly, offers a number of solutions in this area. Substitution of manual finishing is one example, which is especially important on dies and moulds or components with a complex 3D geometry. Processes The demands on shorter throughput times via fewer setups and simplified flows (logistics) can in most cases, be solved by HSM. A typical target within the die and mould industry is to completely machine fully hardened small sized tools in one setup. Costly and time consuming EDM processes processes can can can also also also be reduced or eliminated with be reduced or eliminated with HSM. Design & development One of the main tools in today's competition is to sell products on the value of novelty. novelty. The The The average average average product product product life life life cycle cycle cycle on on on cars cars cars today today today is is is 4 4 4 years, years, years, computers computers computers and and accessories accessories 1.5 1.5 1.5 years, years, years, hand hand hand phones phones phones 3 3 3 months... months... months... One One One of of of the the the prerequisites prerequisites prerequisites of of of this this development of fast design changes and rapid product development time is the HSM technique. Complex products There is an increase of m ulti-functional multi-functional multi-functional surfaces surfaces surfaces on components, such on components, such a s new as new design design of of of turbine turbine turbine blades blades blades giving giving giving new new new and and and optimized optimized optimized functions functions functions and and and features. features. features. Earlier Earlier designs allowed polishing by hand or with robots (manipulators). Turbine blades with new, more sophisticated designs have to be finished via machining and preferably by HSM . There are also more and more examples of thin walled workpiece that have to be machined (medical equipment, electronics, defense products, computer parts). Production equipment The The strong strong strong development development development of of of cutting cutting cutting materials, materials, materials, holding holding holding tools, tools, tools, machine machine machine tools, tools, controls and especially CAD/CAM features and equipment, has opened possibilities that must be met with new production methods and techniques5. Definition of HSM Salomon's Salomon's theory, theory, theory, "Machining "Machining "Machining with with with high high high cutting cutting cutting speeds..." speeds..." speeds..." on on on which, which, which, in in in 1931, 1931, took out a German patent, assumes that "at a certain cutting speed (5-10 times higher than than in in in conventional conventional conventional machining), machining), machining), the the the chip chip chip removal removal removal temperature temperature temperature at at at the the the cutting cutting cutting edge edge will start to decrease...".See fig.6. Fig.6 chip removal temperature as a result of the cutting speed Given Given the the the conclusion:" ... conclusion:" ... seems seems to to to give give give a a a chance chance chance to to to improve improve improve productivity productivity productivity in in machining with conventional tools at high cutting speeds..." Modern research, unfortunately, has not been able to verify this theory totally. There is a relative decrease of the temperature at the cutting edge that starts at certain cutting speeds for different materials. The decrease is small for steel and cast iron. But larger for aluminum and other non-ferrous metals. The definition of HSM must be based on other factors. Given Given today's today's today's technology, technology, technology, "high "high "high speed" speed" speed" is is is generally generally generally accepted accepted accepted to to to mean mean mean surface surface speeds between 1 and 10 kilometers perminute, or roughly 3 300 to 33 000 feet per minute. Speeds above 10 km/min are in the ultra-high speed category, and are largely the realm of experimental metal cutting. Obviously, the spindle rotations required to achieve these surface cutting speeds are directly related to the diameter of the tools being being used. used. used. One One One trend trend trend which which which is is is very very very evident evident evident today today today is is is the the the use use use of of of very very very large large large cutter cutter diameters for these applications - and this has important implications for tool design. There are many opinions, many myths and many different ways to define HSM. Maintenance and troubleshooting Maintenance for a horizontal MC The The following following following is is a a list list list of of of required required required regular regular regular maintenance maintenance for for a a a Horizontal Horizontal Machining Center as shown in fig.7. Listed are the frequency of service, capacities, and type of fluids required. These required specifications must be followed in order to keep your machine in good working order and protect your warranty. Fig. 7 horizontal machining center Daily Top Top off off off coolant coolant coolant level level level every every every eight eight eight hour hour hour shift shift shift (especially (especially (especially during during during heavy heavy heavy TSC TSC usage). Check way lube lubrication tank level. Clean chips from way covers and bottom pan. Clean chips from tool changer. Wipe spindle taper with a clean cloth rag and apply light oil. Weekly • Check for proper operation of auto drain on filter regulator. See fig. 8 Fig. 8 way lube and pneumatics On machines with the TSC option, clean the chip basket on the coolant tank. Remove the tank cover and remove any sediment inside the tank. Be careful to disconnect the coolant pump from the controller and POWER OFF the control before working on the coolant tank. Do this monthly for machines without the TSC option. Check air gauge/regulator for 85 psi. For For machines machines machines with with with the the the TSC TSC TSC option, option, option, place place place a a a dab dab dab of of of grease grease grease on on on the the the V-flange V-flange V-flange of of tools. Do this monthly for machines without the TSC option. Clean exterior surfaces with mild cleaner. DO NOT use solvents. Check the hydraulic counterbalance pressure according to the machine's specifications. Place a dab of grease on the outside edge of the fingers of the tool changer and run through all tools". Monthly Check oil level in gearbox. Add oil until oil begins dripping from over flow tube at bottom of sump tank. Clean pads on bottom of pallets. Clean Clean the the the locating locating locating pads pads pads on on on the the the A-axis A-axis A-axis and and and the the the load load load station. station. station. This This This requires requires removing the pallet. • Inspect Inspect way way way covers covers covers for for for proper proper proper operation operation operation and and and lubricate lubricate lubricate with with with light light light oil, oil, oil, if if necessary. Six months Replace coolant and thoroughly clean the coolant tank. Check all hoses and lubrication lines for cracking. Annually • Replace the gearbox oil. Drain the oil from the gearbox, and slowly refill it with 2 quarts of Mobil DTE 25 oil. • Check oil filter and clean out residue at bottom for the lubrication chart. Replace air filter on control box every 2 years. Mineral Mineral cutting cutting cutting oils oils oils will will will damage damage damage rubber rubber rubber based based based components components components throughout throughout throughout the the machine. Troubleshooting This section is intended for use in determining the solution to a known problem. Solutions Solutions given given given are are are intended intended intended to to to give give give the the the individual individual individual servicing servicing servicing the the the CNC CNC CNC a a a pattern pattern pattern to to follow in, first, determining the problem's source and, second, solving the problem. Use common sense Many Many problems problems problems are are are easily easily easily overcome overcome overcome by by by correctly correctly correctly evaluating evaluating evaluating the the the situation. situation. situation. All All machine operations are composed of a program, tools, and tooling. You must look at all three before blaming one as the fault area. If a bored hole is chattering because of an overextended boring bar, don't expect the machine to correct the fault. Don't Don't suspect suspect suspect machine machine machine accuracy accuracy accuracy if if if the the the vise vise vise bends bends bends the the the part. part. part. Don't Don't Don't claim claim claim hole hole miss-positioning if you don't first center-drill the hole. Find the problem first Many Many mechanics mechanics mechanics tear tear tear into into into things things things before before before they they they understand understand understand the the the problem, problem, problem, hoping hoping that it will appear as they go. We know this from the fact that more than half of all warranty warranty returned returned returned parts parts parts are are are in in in good good good working working working order. order. If If the the the spindle spindle spindle doesn't doesn't doesn't turn, turn, remember remember that that that the the the spindle spindle spindle is is is connected connected connected to to to the the the gear gear gear box, box, box, which which which is is is connected connected connected to to to the the spindle spindle motor, motor, motor, which which which is is is driven driven driven by by by the the the spindle spindle spindle drive, drive, drive, which which which is is is connected connected connected to to to the the the I/O I/O BOARD, BOARD, which which which is is is driven driven driven by by by the the the MOCON, MOCON, MOCON, which which which is is is driven driven driven by by by the the the processor. processor. processor. The The moral here is doing replace the spindle drives if the belt is broken. Find the problem first; don't just replace the easiest part to get to. Don tinker with the machine There are hundreds of parameters, wires, switches, etc., that you can change in this machine. Don't start randomly changing parts and parameters. Remember, there is a good chance that if you change something, y ou will incorrectly install it or break you will incorrectly install it or break something else in the process6. Consider for a moment changing the processor's board. First, you have to download all parameters, remove a dozen connectors, replace the board, board, reconnect reconnect reconnect and and and reload, reload, reload, and and and if if if you you you make make make one one one mistake mistake mistake or or or bend bend bend one one one tiny tiny tiny pin pin pin it it WON'T WORK. You always need to consider the risk of accidentally damaging the machine anytime you work on it. It is cheap insurance to double-check a suspect part before physically changing it. The less work you do on the machine the better. 。
现代起重机的特征和发展趋向外文文献翻译、中英文翻译
The characteristics and development trends ofmodern cranesWith modern science and technology is developing rapidly, industrial production scale expansion and the increased automation, cranes in the modernization of the production process more widely, the growing role of the cranes require higher and higher. In particular the electronic computer technology to a wide range of applications, prompted a number of interdisciplinary approach in the advanced design and promote a modern manufacturing techniques and testing technology improved. Intense competition in the international market is also increasingly rely on technology competition. These are the technical performance of a crane to enter a new stage of development, the crane is undergoing a huge transformation.China is now at an unprecedented speed into the globalized international market competition, China's crane manufacturing industry faced with both opportunities and challenges of the new situation. Therefore the constant development of cranes and innovation is the key. Crane is now under the new domestic and foreign theories, new technology and new trends, with examples, briefly discussed the characteristics of modern cranes and development trends.1 key products, large, high-speed, durability and exclusiveAs industrial production increased scale, increasing production efficiency and production process of loading and unloading of materials handling gradually increase the proportion of the cost, to large crane or the demand for high-speed growth. From the weight of a growing, increasingly high work rate and higher energy consumption and reliability requirements. Crane has become automated production processes in an important link. Crane will not only ease of use, easy to maintain, easy to operate, and better security, fewer failures, the average working hours of trouble-free longer. Reliability is an international product market competition in the focus of many large foreign companies have developed a reliable internal control standards. China's crane to catch up with and surpass the performance of the world's advanced level, the key is to improve the reliability so that the cranes have excellent durability, trouble-free, maintenance and use of economy.Currently the world's largest floating crane from the weight of 6500 t, the largest cranes from the weight of 3000 t, the largest bridge crane from the weight of 1200 t, automated warehouse stacking the largest crane operating speed of 240 m / min.Industrial production and the diversity of user needs, so that the crane for the expansion of the market, the variety has been updated to meet the special features specific to the needs of the effectiveness ofthe best play. Metallurgical special crane, explosion-proof,anti-corrosion, insulation and rail cranes, vessels, vehicles for increasing the functions of a crane, continuously improve performance, adaptability stronger than ever. Demag of Germany developed an aircraft maintenance for cranes in the international market opened the market. This span of the crane, lifting height, stop-high accuracy. Below the installation of a car lifting retractable rotary maintenance platform to reach any aircraft parts. With the rapid development of world nuclear power plant, the plant has been dedicated crane corresponding development, such as the indoor ring reactor bridge crane work in the radioactive environment, the pressure vessel for lifting the lid and the reactor components and other dangerous load, high reliability requirements, Security good, accurate positioning and can automatically slow decentralization, and other items, and various protection devices and special safety devices.2 series modular, combination, standardization and practicalCrane is a many-volume series of products, systems usingmulti-objective optimization methods of the overall design has become a series of crane development priorities, through full consideration to performance, cost, technology, production management, maintenance and use of bulk manufacturing, and other factors on the main series Reasonable parameters match, so as to achieve improved performance. Lower manufacturing costs and improve the general level, with less specifications of the components of many varieties, multi-standard products to fully meet user demand.With modular design instead of the traditional design, a crane on the basic functions of the same components, parts and components made from a variety of purposes, have the same connection elements and interchangeable modules, through a combination of different modules to form Different types and specifications of the crane. To improve the crane, just for a few modules. Design a new crane, just choose different modules re-combination. Since raising the general level, will enable small-batch production of products to a considerable bulk into the module production, high efficiency of specialized production and reduce manufacturing cost. Less able to form the module, a combination of many more species of crane specifications to meet market demand, increase competitiveness.Demag of Germany production overhead crane fully consider the combination of modular and so that the series with two, institutions, parts and components in each other's parameters match, the ability to achieve the most economical and reasonable distribution with the results. From the use of weight lifting and speed of the product is a constant way to or from the main body parts to achieve the maximum common. Then the rate changes through the pulley derived more specifications. 5 ~ 125t bridge crane series, a variety of working-level, just four kinds of car-lifting. The company developed the standard wheel box module series, haveabove-connected group, optional different models of the drive unit can be assembled into vehicles, and pieces of metal structures used for various combinations after the bridge, gantry crane , Lane Stacker cranes or other lifting transport-rail line running the mechanical machinery, its wheels are a variety of forms for the Selection of tread. Because of distance without restrictions, combined flexible, widely used. The company's standard-beam module series has commercialization, with the main beam by friction between the ring and high strength bolts of connections and improve the accuracy of interchangeability and size, a decrease of Jie Hemian the processing volume. And one of the main beam can be quickly and effectively phase grounding. That apply to single-beam or two forms of dual-beam-beam modules, according to the weight from the span can be identified and applied-beam models.Crane foreign experts recently estimate that there will be 20 percent to 30 percent of the cranes need to install the automated system.5 sets of product mix, systematic, complex and informationIn stand-alone automated crane on the basis of the various computer lifting the transport machinery to form a material handling system integration, through the control of the central control room, with the organic integration of production equipment, production systems with coordination. Such crane high degree of automation, with information processing capabilities that can be detected by the sensor implementation of various kinds of information storage, computing, logical judgement, such as processing transform processing, then sent to the implementing agencies control instructions. Such crane also has good information input and output interfaces, full of information, accurate and reliable in the entire material handling system of transmission.Production of construction machinery of the U.S. Caterpillar company to purchase the metal structure of a plant to bridge crane mainly of material handling systems automatically for the steel shot peening processing, automatic cutting and the storage of automatic loading and unloading transport operations, than the original single Hands-on work efficiency improved 65 percent. Japan's Toshiba Hamamatsu Kawasaki factory overhead crane used by the automatic transmission system composed of materials to processing online flexible handling of the fixture and parts, machine tools for the delivery of rough parts or processed to the next process or storage. In the space of these mobile crane instead of moving on the ground in the past usually travelling on the auto-oriented transportation vehicles, workshop floor area to be fully utilized.6 computer product design, precision, rapid and fullWith the electronic computer technology and the widespread application of systems engineering, and optimize the project, value engineering, reliability engineering, to create works of modern and ergonomic design theory continues to develop, prompted many interdisciplinary approach inmodern design, so that the design of crane Access to innovative,high-quality, high efficiency, the new stage. At present, computer-aided design (CAD) has been gradually into the various stages of design and design work involved in the various fields. Not only to make use of computing speed, accuracy, the amount of information storage and the logical reasoning ability, and other advantages of the programme to replace the artificial selection, analysis and mapping, but also throughhuman-computer interaction, make full use of the designer's creativity And experience. United States, Germany, and Japan, and some cranes extensive application of CAD companies are completely abandon the traditional drawing board. And also with computer-aided process planning (CAPP) and computer-aided manufacturing (CAM) of convergence achieved, but no production.Crane is a complex condition of the large-scale structure, its dynamic performance affected by many factors, the movement parameters and load can not use a simple mathematical model described. Most of the past, mainly static design, great limitations. Crane at home and abroad in recent years in the design of a dynamic simulation design using new methods, using computers to various institutions and structures in a condition to bear load and movement over time during the simulation, the simulation output parameters and get results, in order to Estimates and the actual operation of the inference of data.Ergonomics of the crane, and the operating environment as a whole system to study the creation of a crane and the best state of interaction. Ergonomics in the crane on the Application of the main drivers in the design room, including the cab of a reasonable arrangement to reduce driver fatigue and increase the efficiency of measures to strengthen environmental protection, reduce dust and air pollution, reducing vibration and the driver's cab Noise.With the cranes of high-speed and large, need to conduct furtherin-depth changes of the crane loads, fatigue and dynamic characteristics of the study. Further parts of the crane machine and test the reliability of research, providing cranes new design methods and data. Limit state design and optimize the design, reliability, design, finite element method, modular design, reverse engineering, design and robust design fatigue will be more in-depth and comprehensive application.7 Construction of new products, handsome, pleasant and comprehensive The structure of a special-shaped steel and thin-walled profile, reduce the structure of the seam stitching and enhance anti-fatigue properties. Using all kinds of high-strength low-alloy steel materials, enhance capacity and improve conditions for the force, to reduce forces and increase the aesthetic appearance. Overhead bridge cranes are the type used box-four beams, the main beam with a beam-high strength bolts connecting, for processing, transportation and installation.At the institutional level to further the development of new transmission parts, simplify institutions. "Triple-play" operation because of compact bodies. Enables convenient, simple and run a smooth adjustment, the crane operation will become the mainstream, reducer shell, drum and pulley, and other manufacturers are welded to the casting, can reduce self-respect, to increase capacity and improve processing conditions. Hardened gear reducer used to reduce the volume, increase capacity and increase service life.Electronically controlled areas in the development of good performance, low cost, high reliability and the speed control system and electronic control systems, the development of semi-automatic and fully automatic control. Using mechanical, electrical, instrument, the integration of technology, increase the use of performance and reliability, increasing the functions of a crane. Experts have pointed out that the future of the crane driver, because Frequency Control System to be more and more applications, the exchange will be re-cage motor attention and was widely used. Crane and will pay more attention to the safety, development of new types of security devices and automatically display device failure, and the importance of improving the working conditions of drivers.8 flexible manufacturing, Ling Jie, Lean and scaleIn a highly competitive market conditions, the crane to raise the market share to ensure that the crane, high-performance high-quality, and continue to launch new products, production companies must have the ability to adapt to market changes and rapid response capability. Including raising production efficiency, improve and maintain the consistency of product quality, reduce production costs and shorten the production cycle, such as accelerating the upgrading of products. Flexible manufacturing of equipment and technology is to process the production line could apply to the needs of a variety of products, from single-species adapt to the current mass production to the variety of small batch production methods change. Ling Jie manufacturing of the product is to market and the reduction for the shortest time to prepare so that the enterprise mechanism to be flexible. Lean manufacturing is to make the production process continuously improve labor productivity, maintain product quality and stability, stressed that enterprises and departments cooperate closely with each other. A good mechanism for production and enterprise management mechanism is a prerequisite for development.Crane at the time of manufacture widely used computer-aided process planning (CAPP), computer-aided manufacturing (CAM) and flexible manufacturing systems (FMS). Using extrusion molding, stamping molding, casting, and other less sophisticated, non-cutting process, cutting by electro-optical tracking technology, welding robot technology. Make full use of automatic processing center and NC machine tools, improve the processing of the level of automation. Manufacturing means ofmodernization is to maintain the quality and stability, the premise of improving labour productivity.The United States, Germany and Japan, the crane production companies have a high degree of automation, extensive and comprehensive use of the CAM, manufacturing and strict quality control. Such as Germany Demag production girder bridge crane, the first plate is a pre-processing, and using electro-optical tracking laser cutting. Lifting plate by vacuum suction, to ensure that no deformation plate. Web and cover welding used to cover installation of hydraulic pressure to ensure that the web and can fully cover Tiejin; main beam increase the carrying capacity and stiffness. To ensure quality, each welder weld all the workers, bear the responsibility to the people. Because of the increased manufacturing automation, Demag create a weight of 5 t from the main beam only about 20 hours, 14-beam for the working hours, the whole crane more than 100 hours of work can be completed, greatly reducing the TAC Cargo cycle.现代起重机的特征和发展趋向随着现代科学技术的迅速发展，工业生产规模的扩大和自动化程度的提高，起重机在现代化生产过程中应用越来越广，作用愈来愈大，对起重机的要求也越来越高。
数控专业的英语作文带翻译
数控专业的英语作文带翻译Title: The Development of CNC Technology。
With the rapid development of technology, CNC (Computer Numerical Control) technology has become an indispensable part of modern manufacturing industry. It hasrevolutionized the traditional manufacturing processes by automating and improving efficiency, accuracy, andflexibility in various industries.CNC technology utilizes computer programs to control machine tools and equipment, allowing for precise and complex operations that were previously impossible with manual methods. This technology has greatly increased productivity and reduced production costs for manufacturers, making it a popular choice for producing a wide range of products, from automotive parts to aerospace components.One of the key advantages of CNC technology is itsability to produce high-quality and consistent productswith minimal human intervention. This not only improves the overall quality of the products but also reduces the riskof errors and defects, leading to higher customersatisfaction and loyalty.Furthermore, CNC technology has also enabled manufacturers to produce customized products quickly and efficiently. By simply inputting the desired specifications into the computer program, manufacturers can easily create unique products tailored to the specific needs and preferences of their customers.In addition to its manufacturing capabilities, CNC technology has also played a significant role in advancing other industries, such as healthcare, transportation, and construction. For example, CNC machines are used in the medical industry to produce custom implants and prosthetics, while in the transportation industry, CNC technology isused to manufacture precision components for aircraft and automobiles.Looking ahead, the future of CNC technology is bright,with continuous advancements in automation, artificial intelligence, and connectivity. These developments will further enhance the capabilities of CNC machines, making them even more efficient, accurate, and versatile in meeting the evolving demands of the manufacturing industry.In conclusion, CNC technology has significantly transformed the manufacturing industry and will continue to play a crucial role in shaping the future of manufacturing. Its ability to automate processes, improve efficiency, and produce high-quality products has made it an essential tool for manufacturers worldwide. As technology continues to evolve, CNC technology will undoubtedly remain at the forefront of innovation and progress in the manufacturing industry.随着技术的快速发展，数控（Computer Numerical Control）技术已经成为现代制造业不可或缺的一部分。
数控专业的英语作文带翻译
English is the primary language for scientific and technological information exchange. By improving your English writing skills, you can access the latest technological developments, research findings, and industry trends, which will enhance your professional knowledge and expertise in numerical control.
Numerical Control Major English Writing with Translation
With the rapid development of manufacturing industry, the demand for numerical control professionals with proficient English skills is increasing. As a numerical control major student, it is essential to master professional English writing, which will benefit your future career development. In this article, we will discuss the importance of English writing for numerical control majors and provide useful tips and examples to improve English writing skills in this field.
机械手外文文献及翻译
EnglishRobot developed in recent decades as high—tech automated production equipment。
Industrial robot is an important branch of industrial robots. It features can be programmed to perform tasks in a variety of expectations, in both structure and performance advantages of their own people and machines，in particular，reflects the people's intelligence and adaptability。
The accuracy of robot operations and a variety of environments the ability to complete the work in the field of national economy and there are broad prospects for development。
With the development of industrial automation， there has been CNC machining center， it is in reducing labor intensity, while greatly improved labor productivity。
However， the upper and lower common in CNC machining processes material，usually still use manual or traditional relay-controlled semi—automatic device。
关于现代工业机械手外文文献翻译@中英文翻译@外文翻译
附录About Modenr Industrial Manipulayor Robot is a type of mechantronics equipment which synthesizes the last research achievement of engine and precision engine, micro-electronics and computer, automation control and drive, sensor and message dispose and artificial intelligence and so on. With the development of economic and the demand for automation control, robot technology is developed quickly and all types of the robots products are come into being. The practicality use of robot not only solves the problems which are difficult to operate for human being, but also advances the industrial automation program. Modern industrial robots are true marvels of engineering. A robot the size of a person can easily carry a load over one hundred pounds and move it very quickly with a repeatability of 0.006inches. Furthermore these robots can do that 24hours a day for years on end with no failures whatsoever. Though they are reprogrammable, in many applications they are programmed once and then repeat that exact same task for years.At present, the research and development of robot involves several kinds of technology and the robot system configuration is so complex that the cost at large is high which to a certain extent limit the robot abroad use. To development economic practicality and high reliability robot system will be value to robot social application and economy development. With he rapid progress with the control economy and expanding of the modern cities, the let of sewage is increasing quickly; with the development of modern technology and the enhancement of consciousness about environment reserve, more and more people realizedthe importance and urgent of sewage disposal. Active bacteria method is an effective technique for sewage disposal. The abundance requirement for lacunaris plastic makes it is a consequent for plastic producing with automation and high productivity. Therefore, it is very necessary to design a manipulator that can automatically fulfill the plastic holding. With the analysis of the problems in the design of the plasticholding manipulator and synthesizing the robot research and development condition in recent years, a economic scheme is concluded on the basis of the analysis of mechanical configuration, transform system, drive device and control system and guided by the idea of the characteristic and complex of mechanical configuration, electronic, software and hardware. In this article, the mechanical configuration combines the character of direction coordinate which can improve the stability and operation flexibility of the system. The main function of the transmission mechanism is to transmit power to implement department and complete the necessary movement. In this transmission structure, the screw transmission mechanism transmits the rotary motion into linear motion. Worm gear can give vary transmission ratio. Both of the transmission mechanisms have a characteristic of compact structure. The design of drive system often is limited by the environment condition and the factor of cost and technical lever. The step motor can receive digital signal directly and has the ability to response outer environment immediately and has no accumulation error, which often is used in driving system. In this driving system, open-loop control system is composed of stepping motor, which can satisfy the demand not only for control precision but also for the target of economic and practicality. On this basis, the analysis of stepping motor in power calculating and style selecting is also given. The analysis of kinematics anddynamics for object holding manipulator is given in completing the design of mechanical structure and drive system.Current industrial approaches to robot arm control treat each joint of the robot arm as a simple joint servomechanism. The servomechanism approach models the varying dynamics of a manipulator inadequately because it neglects the motion and configuration of the whole arm mechanism. These changes in the parameters of the controlled system sometimes are significant enough to render conventional feedback control strategies ineffective. The result is reduced servo response speed and damping, limiting the precision and speed of the end-effecter and making it appropriate only for limited-precision tasks. Manipulators controlled in this manner move at slow speeds with unnecessary vibrations. Any significant performance gain in this and other areas of robot arm control require the consideration of more efficient dynamic models, sophisticated control approaches, and the use of dedicated computer architectures and parallel processing techniques.In the industrial production and other fields, people often endangered by such factors as high temperature, corrode, poisonous gas and so forth at work, which have increased labor intensity and even jeopardized the life sometimes. The corresponding problems are solved since the robot arm comes out. The arms can catch, put and carry objects, and its movements are flexible and diversified. It applies to medium and small-scale automated production in which production varieties can be switched. And it is widely used on soft automatic line. The robot arms are generally made by withstand high temperatures, resist corrosion of materials to adapt to the harsh environment. So they reduced the labor intensity of the workers significantly and raised work efficiency. The robot arm is an importantcomponent of industrial robot, and it can be called industrial robots on many occasions. Industrial robot is set machinery, electronics, control, computers, sensors, artificial intelligence and other advanced technologies in the integration of multidisciplinary important modern manufacturing equipment. Widely using industrial robots, not only can improve product quality and production, but also is of great significance for physical security protection, improvement of the environment for labor, reducing labor intensity, improvement of labor productivity, raw material consumption savings and lowering production costs.There are such mechanical components as ball footbridge, slides, air control mechanical hand and so on in the design. A programmable controller, a programming device, stepping motors, stepping motors drives, direct current motors, sensors, switch power supply, an electromagnetism valve and control desk are used in electrical connection.Robot is the automated production of a kind used in the process of crawling and movin g piece features automatic device, which is mechanized and automated production process d eveloped a new type of device. In recent years, as electronic technology, especially compute r extensive use of robot development and production of hightech fields has become a rapidl y developed a new technology, which further promoted the development of robot, allowing robot to better achieved with the combination of mechanization and automation. Robot can replace humans completed the risk of duplication of boring work, to reduce human labor int ensity and improve labor productivity. Manipulator has been applied more and more widely, in the machinery industry, it can be used for parts assembly, work piece handling, loading a nd unloading, particularly in the automation of CNC machine tools, modular machine toolsmore commonly used. At present, the robot has developed into a FMS flexible manufacturin g systems and flexible manufacturing cell in an important component of the FMC. The mac hine tool equipment and machinery in hand together constitute a flexible manufacturing syst em or a flexible manufacturing cell, it was adapted to small and medium volume production , you can save a huge amount of the work piece conveyor device, compact, and adaptable. When the work piece changes, flexible production system is very easy to change will help e nterprises to continuously update the marketable variety, improve product quality, and better adapt to market competition. At present, China's industrial robot technology and its enginee ring application level and comparable to foreign countries there is a certain distance, applica tion and industrialization of the size of the low level of robot research and development of a direct impact on raising the level of automation in China, from the economy, technical cons iderations are very necessary. Therefore, the study of mechanical hand design is very meani ngful.关于现代工业机械手机器人是典型的机电一体化装置，它综合运用了机械与精密机械、微电子与计算机、自动控制与驱动、传感器与信息处理以及人工智能等多学科的最新研究成果，随着经济技术的开展和各行各业对自动化程度要求的提高，机器人技术得到了迅速开展，出现了各种各样的机器人产品。
中英文文献翻译-起重机介绍
附录外文文献原文：The Introduction of cranesA crane is defined as a mechanism for lifting and lowering loads with a hoisting mechanism Shapiro, 1991. Cranes are the most useful and versatile piece of equipment on a vast majority of construction projects. They vary widely in configuration, capacity, mode of operation, intensity of utilization and cost. On a large project, a contractor may have an assortment of cranes for different purposes. Small mobile hydraulic cranes may be used for unloading materials from trucks and for small concrete placement operations, while larger crawler and tower cranes may be used for the erection and removal of forms, the installation of steel reinforcement, the placement of concrete, and the erection of structural steel and precast concrete beams.On many construction sites a crane is needed to lift loads such as concrete skips, reinforcement, and formwork. As the lifting needs of the construction industry have increased and diversified, a large number of general and special purpose cranes have been designed and manufactured. These cranes fall into two categories, those employed in industry and those employed in construction. The most common types of cranes used in construction are mobile, tower, and derrick cranes.1.Mobile cranesA mobile crane is a crane capable of moving under its own power without being restricted to predetermined travel. Mobility is provided by mounting or integrating the crane with trucks or all terrain carriers or rough terrain carriers or by providing crawlers. Truck-mounted cranes have the advantage of being able to move under their own power to the construction site. Additionally, mobile cranes can move about the site, and are often able to do the work of several stationary units.Mobile cranes are used for loading, mounting, carrying large loads and for work performed in the presence of obstacles of various kinds such as power lines and similar technological installations. The essential difficulty is here the swinging of the payload which occurs during working motion and also after the work is completed. This applies particularly to the slewing motion of the crane chassis, for which relatively large angular accelerations and negative accelerations of the chassis are characteristic. Inertia forces together with the centrifugal force and the Carioles force cause the payload to swing as a spherical pendulum. Proper control of the slewing motion of the crane serving to transport a payload to the defined point with simultaneous minimization of the swings when theworking motion is finished plays an important role in the model.Modern mobile cranes include the drive and the control systems. Control systems send the feedback signals from the mechanical structure to the drive systems. In general, they are closed chain mechanisms with flexible members [1].Rotation, load and boom hoisting are fundamental motions the mobile crane. During transfer of the load as well as at the end of the motion process, the motor drive forces, the structure inertia forces, the wind forces and the load inertia forces can result in substantial, undesired oscillations in crane. The structure inertia forces and the load inertia forces can be evaluated with numerical methods, such as the finite element method. However, the drive forces are difficult to describe. During start-up and breaking the output forces of the drive system significantly fluctuate. To reduce the speed variations during start-up and braking the controlled motor must produce torque other than constant [2,3], which in turn affects the performance of the crane.Modern mobile cranes that have been built till today have oft a maximal lifting capacity of 3000 tons and incorporate long booms. Crane structure and drive system must be safe, functionary and as light as possible. For economic and time reasons it is impossible to build prototypes for great cranes. Therefore, it is desirable to determinate the crane dynamic responses with the theoretical calculation.Several published articles on the dynamic responses of mobile crane are available in the open literature. In the mid-seventies Peeken et al. [4] have studied the dynamic forces of a mobile crane during rotation of the boom, using very few degrees of freedom for the dynamic equations and very simply spring-mass system for the crane structure. Later Maczynski et al. [5] studied the load swing of a mobile crane with a four mass-model for the crane structure. Posiadala et al. [6] have researched the lifted load motion with consideration for the change of rotating, booming and load hoisting. However, only the kinematics were studied. Later the influence of the flexibility of the support system on the load motion was investigated by the same author [7]. Recently, Kilicaslan et al. [1] have studied the characteristics of a mobile crane using a flexible multibody dynamics approach. Towarek [16] has concentrated the influence of flexible soil foundation on the dynamic stability of the boom crane. The drive forces, however, in all of those studies were presented by using so called the metho d of ……kinematics forcing‟‟ [6] with assumed velocities or accelerations. In practice this assumption could not comply with the motion during start-up and braking.A detailed and accurate model of a mobile crane can be achieved with the finite element method. Using non-linear finite element theory Gunthner and Kleeberger [9] studied the dynamic responses of lattice mobile cranes. About 2754 beam elements and 80 truss elements were used for modeling of the lattice-boom structure. On this basis a efficient software for mobile crane calculation––NODYA has been developed. However, the influences of the drive systems must be determined by measuring on hoisting of the load[10], or rotating of the crane [11]. This is neither efficient nor convenient for computer simulation of arbitrary crane motions.Studies on the problem of control for the dynamic response of rotary crane are also available. Sato et al. [14], derived a control law so that the transfer a load to a desired position will take place that at the end of the transfer of the swing of the load decays as soon as possible. Gustafsson [15] described a feedback control system for a rotary crane to move a cargo without oscillations and correctly align the cargo at the final position. However, only rigid bodies and elastic joint between the boom and the jib in those studies were considered. The dynamic response of the crane, for this reason, will be global.To improve this situation, a new method for dynamic calculation of mobile cranes will be presented in this paper. In this method, the flexible multibody model of the steel structure will be coupled with the model of the drive systems. In that way the elastic deformation, the rigid body motion of the structure and the dynamic behavior of the drive system can be determined with one integrated model. In this paper this method will be called ……complete dynamic calculation for driven “mechanism”.On the basis of flexible multibody theory and the Lagrangian equations, the system equations for complete dynamic calculation will be established. The drive- and control system will be described as differential equations. The complete system leads to a non-linear system of differential equations. The calculation method has been realized for a hydraulic mobile crane. In addition to the structural elements, the mathematical modeling of hydraulic drive- and control systems is decried. The simulations of crane rotations for arbitrary working conditions will be carried out. As result, a more exact representation of dynamic behavior not only for the crane structure, but also for the drive system will be achieved. Based on the results of these simulations the influences of the accelerations, velocities during start-up and braking of crane motions will be discussed.2.Tower cranesThe tower crane is a crane with a fixed vertical mast that is topped by a rotating boom and equipped with a winch for hoisting and lowering loads (Dickie, 990). Tower cranes are designed for situations which require operation in congested areas. Congestion may arise from the nature of the site or from the nature of the construction project. There is no limitation to the height of a high-rise building that can be constructed with a tower crane. The very high line speeds, up to 304.8 mrmin, available with some models yield good production rates at any height. They provide a considerable horizontal working radius, yet require a small work space on the ground (Chalabi, 1989). Some machines can also operate in winds of up to 72.4 km/h, which is far above mobile crane wind limits.The tower cranes are more economical only for longer term construction operations and higher lifting frequencies. This is because of the fairly extensive planning needed for installation, together with the transportation, erection and dismantling costs.3. Derrick cranesA derrick is a device for raising, lowering, and/or moving loads laterally. The simplest form of the derrick is called a Chicago boom and is usually installed by being mounted to building columns or frames during or after construction (Shapiro and Shapiro, 1991).This derrick arrangement. (i.e., Chicago boom) becomes a guy derrick when it is mounted to a mast and a stiff leg derrick when it is fixed to a frame.The selection of cranes is a central element of the life cycle of the project. Cranes must be selected to satisfy the requirements of the job. An appropriately selected crane contributes to the efficiency, timeliness, and profitability of the project. If the correct crane selection and configuration is not made, cost and safety implications might be created (Hanna, 1994). Decision to select a particular crane depends on many input parameters such as site conditions, cost, safety, and their variability. Many of these parameters are qualitative, and subjective judgments implicit in these terms cannot be directly incorporated into the classical decision making process. One way of selecting crane is achieved using fuzzy logic approach.Cranes are not merely the largest, the most conspicuous, and the most representative equipment of construction sites but also, at various stages of the project, a real “bottleneck” that slows the pace of the construction process. Although the crane can be found standing idle in many instances, yet once it is involved in a particular task ,it becomes an indispensable link in the activity chain, forcing at least two crews(in the loading and the unloading zones) to wait for the service. As analyzed in previous publications [6-8] it is feasible to automate (or, rather, semi-automate) crane navigation in order to achieve higher productivity, better economy, and safe operation. It is necessary to focus on the technical aspects of the conversion of existing crane into large semi-automatic manipulators. By mainly external devices mounted on the crane, it becomes capable of learning, memorizing, and autonomously navigation to reprogrammed targets or through prêt aught paths.The following sections describe various facets of crane automation:First, the necessary components and their technical characteristics are reviewed, along with some selection criteria. These are followed by installation and integration of the new components into an existing crane. Next, the Man –Machine –Interface (MMI) is presented with the different modes of operation it provides. Finally, the highlights of a set of controlled tests are reported followed by conclusions and recommendations.Manual versus automatic operation: The three major degrees of freedom of common tower cranes are illustrated in the picture. In some cases , the crane is mounted on tracks , which provide a fourth degree of freedom , while in other cases the tower is “telescope” or extendable , and /or the “jib” can be raised to a diagonal position. Since these additional degrees of freedom are not used routinely during normal operation but rather are fixed in a certain position for long periods (days or weeks), they are not included in the routineautomatic mode of operation, although their position must be “known” to the control system.外文文献中文翻译：起重机介绍起重机是用来举升机构、抬起或放下货物的器械。
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利用机器视觉和手的运动控制来提高起重机操作员的性能摘要所有起重机固有的有效载荷摆动使人工快速，准确，安全的操作有效载荷具有挑战性。
防爆起重机控制接口也增加了操作难度。
本文介绍了一种新的接口，允许运营商通过移动手持设备（棒或手套）在空间自由驱动起重机。
起重机轨道安装了摄像头的手提式的运动装置，它的位置是用来驱动起重机。
两个控制体系结构进行了研究。
第一个使用一个简单的反馈控制器，第二使用反馈和输入整形器。
两个算子的研究表明，手部运动起重机控制要比使用标准按钮悬而未决的控制快速和安全。
指数条款控制接口，起重机，输入整形，机器视觉，振荡。
Ⅰ引言起重机在维护现代工业经济活力发挥关键作用。
他们的重要性表现在造船厂，建筑工地，仓库和材料处理的各种应用。
起重机操纵性对于工业生产，低生产成本和工人的安全是一个重要因素。
起重机的固有特性之一有效载荷摆动或更复杂的振荡动力学像自然的倾向双摆，是不利于操作的。
已作出重大努力开发控制方案以减少从发出的命令和外部干扰的振动响应。
也有在控制起重机包含旋转接头的研究，这由于其非线性动力学的一个额外的水平增加了复杂性。
对于运营商而言使用传统的接口，如按钮式起重机吊坠受益于振荡抑制技术。
他们产生比没有这样的补偿算子更安全（不与障碍物的碰撞）和更高效的起重机运动（更快的任务完成时间和减少操作按钮）。
2010年9月26日收到手稿； 2011年4月7日修订，2011年6月10日，2012年4月6日和2012年2月9日接受。
出版日期2012年6月8日，当前版本的日期2012年10月12日。
这项工作是由西门子工业自动化，乔治亚理工学院制造研究中心和波音研究与技术支持。
本文推荐副主编E.J.巴斯。
作者伍德拉夫机械工程学院，乔治亚理工学院，亚特兰大，GA 30332美国（电子邮件：kccpeng”；singhose@；pjbhaumik @生活。
com）。
本文中的一个或一个以上的数字彩色版本可用在线。
数字对象标识符10.1109/tsmca.2012.2199301除了要面对控制大挑战—振幅小阻尼的载荷摆动，运营商还必须掌握反直观的控制界面。
图1.标准按钮悬挂起重机控制图1显示了典型的pendentcontrol桥式起重机。
操作者必须熟练会产生所需的起重机的运动认知过程路径序列按钮。
例如，如果操作者通过驱动一个杂乱工作的起重机，然后期望路径必须被映射成一系列的活动，“前进（F）”“向后（B）”“左（L）”和“右（R）”按钮被按在正确的时间和正确的顺序。
此外，运营商通过移动工作区驱动起重机和监测其进展，他们可以转动他们的身体并改变他们所面对的方向。
在这样的情况下，“前进”按钮使左右运动，甚至是向后运动。
作为一个额外的挑战，操作者可以直接驱动电车架空，不是有效载荷。
因此，操作者必须考虑可能是许多米的开销的指令运动的小车之间的时间滞后和延迟的振动响应的有效荷载。
虽然已经取得了重大的进展，改善通过控制动态起重机的运行效率响应于发布命令，相对很少考虑已经在运营商发出这些命令的方式。
它已被证明，是针对特定的控制系统相关的认知过程的接口产生有益的影响。
例如，在腹腔镜手术的医疗机器人领域，如达文西改进传统的程序允许外科医生在一个更符合人体工程学的方式和低认知负荷操作。
对照组在相同的方向上移动，作为达文西的最终效应，不同于传统的腹腔镜那里的医生必须反向映射控制由于在插入点到仪器的枢轴点的程序。
本文提出了一种新的控制界面，允许操作员在空间移动手持设备驱动起重机。
机器视觉是用来跟踪设备的位置（棒或手套），然后用于生成驱动起重机的指挥信号。
手的运动控制接口是专为通过一个杂乱的工作驱动起重机的任务，因为它消除了认知映射过程，与传统的控制接口是必要的。
结果，运营商不再需要考虑到他们所面对的方向。
安全高效运行也减少了归于手的灵巧的要求。
此外，该控制算法最小化的载荷摆动并没有显著降低系统的响应。
因此，手动降低载荷摆动的负担被解除了。
这使得操作者能专心于路径的规划和有效载荷的最终定位。
手的运动控制提供了比传统的接口其他认知优势。
有认知控制两个主要部门：分析解决问题和感性的过程。
知觉的处理往往会更快，可以并行执行，同时分析处理需要较长的时间和进程串。
分析问题的解决也往往更容易出现错误。
许多研究结果也表明，可能的时候人们更喜欢并采用知觉加工。
从这个角度看，手的运动控制可以帮助运营商通过降低所需的认知水平驱动起重机。
运营商不再需要分析思考的按钮推动序列或者考虑摆动载荷；他们只需要移动手持设备到所需的位置或沿所希望的路径。
这允许操作员完成简单的知觉加工。
本文的主要贡献是一种新型的手的运动控制接口。
这个接口的好处是由人类操作员研究并验证的。
第二部分介绍了新的界面（手杖和手套）。
在第三节这是用于与接口相结合的控制算法进行了讨论。
这是由操作员在第四节研究和和第五节总结的。
Ⅱ对于手动起重机控制接口本文的研究应用是一个悬挂在汽车的桥式起重机摆点质量的有效载荷。
用于实验验证的10吨的工业桥式起重机如图2所示。
图2典型的桥式起重机桥式起重机是由一个固定的架空跑道，一座沿着跑道的桥，和一个沿着桥的手推车组成。
激光测距传感器测量沿跑道和桥的小车的位置。
钩，所代表的有效载荷，悬在车用电缆。
一个西门子可编程逻辑控制器用来控制电机驱动并作为中央控制单元。
对起重机的命令可以发出一个按钮控制魔杖或手套或其他装置下垂。
一个安装在小车向下的西门子SIMATIC vs723-2摄像机用于测量吊钩的位置。
有手运动起重机控制两个手持设备：1）魔杖。
如图3所示，是一个安装在手持杆端的反射球2）手套，图4.通过移动一个反光手套驾驶起重机如图4所示，在背面有一个圆形的反射器。
图5.手的运动起重机控制原理图图5显示了一个应用机器视觉示意图手的运动控制。
起重机安装摄像头用于同时跟踪魔杖/手套和钩的位置。
因为所有反射出现在相机的明亮的斑点，一个k-均值聚类算法用来区分棒/手套反射器反射和钩反射器反射。
相机的刷新率是约140毫秒。
魔杖/手套相对于起重机的位置是用来产生一个误差信号驱动电车架空。
Ⅲ手动起重机控制器研究了三个控制架构。
首先，标准按钮下垂控制器性能比较基准。
然后，在手运动起重机控制其适宜性研究了一个比例–微分（PD）控制器。
最后，输入整形器添加到PD控制器用于降低载荷摆动。
请注意，从控制结构的角度来说，魔杖和手套都是相同的。
这两个设备都是操作员用来沟通所需位置的控制器。
出于这个原因，在本节提出的仿真和实验验证的结果中，魔杖和手套之间没有区别。
然而，在操作过程中的ER gonomics条款，魔杖具有更大的范围和可以在狭小的空间驱动起重机的能力，如转角。
另一方面，手套可在献出范围内获得较小的尺寸和易用性。
A.标准按钮下垂控制图6.标准下垂控制器标准的下垂控制框图如图6所示。
经营者分析工作空间，考虑所需的操作目标，然后决定运动的过程。
这个计划通过按钮实现悬挂控制。
这些按钮将能量发送到汽车和桥式起重机小车。
悬挂载荷的小车间接移动。
图7.标准按钮的下垂控制响应计算机模拟了使用下垂控制器响应的大约2到3米的点对点运动如图7所示。
按压悬挂按钮一段时间就会向起重机电动机发出梯形速度命令。
由于有钟摆一样有效载荷性质，在一般情况下，这种类型的小车的运动会诱导显著的有效载荷振荡。
B. PD手运动控制著名流行的PD控制器是最简单的一个反馈控制形式。
这是在工业中用于起重机的控制最常用的反馈方法。
它为手动起重机控制器提供了一种现实选择。
图8.PD的手动运动控制器PD的手运动控制框图如图8所示。
把魔杖或手套的位置与桥式起重机的位置（忽略的垂直高度差）进行比较，产生误差信号e。
命令发生器将误差信号（一个位置测量）转换为速度命令发送给电机驱动器。
如果是在指定设计范围内的E0和E100，则命令发生器与E成线性地比例。
否则，命令发生器输出0%或100%。
E0和E100值分别为0.25和1米。
这些选择都是基于起重机操作员舒适的距离。
命令发生器被描述为PD控制律的应用，通过饱和器传递结果确保起重机的速度与加速度不超过限制范围。
请注意，起重机小车的位置，而不是有效载荷，用于反馈。
这是因为，在实践中，检测小车位置（使用激光测距传感器）远比检测有效载荷更可靠（使用机器视觉）。
此外，单摆的有效载荷是一个固有的稳定的设备：载荷将在固定式起重机的影响下永远静止。
因此，对起重机小车正确的最终定位保证了有效载荷的正确的最终定位。
1）仿真验证：一个关键的设计挑战是PD增益的选择。
计算机模拟构造援助增益选择的过程。
手的运动轨迹被指定为等于10吨工业起重机坡道位置最大的速度（0.3577米/秒）梯度。
这近似是一个缓慢的步行速度模仿人类操作员典型的手的运动轨迹。
图9.模拟PD控制器和低收益图10.模拟PD控制器和高增益图9和图10显示PD手运动控制器—分别在低和高的反馈增益下的仿真结果。
这两个数字显示使用PD控制器固有的权衡：低收益，起重机回应缓慢，但有效载荷振荡很小；高收益，但以起重机快速移动的大型有效载荷振荡为代价。
2）实验验证：手的运动控制系统是在10吨桥式起重机上实现的。
由人类操作员生产的棒/手套轨迹类似于那些模拟中用的。
斜坡坡度约相当于起重机最大的速度，测试报告的动距离约为2米。
图11.起动和停止时的手部运动控制图11显示了操作员使用手部运动控制启动和停止起重机。
开始移动，操作者可以使魔杖/手套的相机远离起重机一些距离。
当起重机接近所需的位置，操作员降低棒/手套到摄像机检测不到的位置。
当相机无法定位魔杖/手套的位置时，E为零。
因为魔杖/手套的位置在某些时候可能是未知的，所以“魔杖/手套”的实验响应曲线会有间断。
图12.低增益实验PD控制器图13.高增益实验PD控制器图12和图13显示PD手运动控制器使用手套接口分别在低和高的反馈增益下的实验结果。
实验数据加强了模拟结果：低收益动作慢但是起重机载荷摆动小，而高收益起重机的动作快，但有效载荷振荡大。
出于安全原因，减少有效载荷振荡通常比起重机的快速动作，高一个优先级。
因此，PD手运动控制器实际只应该在低收益时使用。
C. PD输入整形手运动控制B部分证明了使用PD手运动控制器的固有弱点（低和高收益之间的权衡）。
然而，性能可通过修改命令信号形状以减少振荡的输入整形器得到改善。
图14显示的新控制框图，表明在饱和器和起重机块之间插入了输入整形器。
1）输入整形：输入整形是一种技术，通过适当地塑造命令降低柔性系统残留振动。
通过卷积的基线输入命令完成一系列的冲动，称为输入整形器。
结果是一个可降低残余振动的形状命令。
为了确定输入整形器的脉冲振幅和时间位置，设计必须满足一定的约束。
主要的设计约束是由成型机引起振动的振幅极限。
从一个欠阻尼二阶系统的序列中n的正常百分比残余振动（PRV）振幅如[ 31 ]。