机械手外文翻译 修改版
机械手臂外文文献翻译、中英文翻译、外文翻译
外文出处：《Manufacturing Engineering and Technology—Machining》附件1：外文原文ManipulatorRobot developed in recent decades as high-tech automated production equipment. I ndustrial robot is an important branch of industrial robots. It features can be program med to perform tasks in a variety of expectations, in both structure and performance a dvantages of their own people and machines, in particular, reflects the people's intellig ence 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 p rospects for development. With the development of industrial automation, there has be en CNC machining center, it is in reducing labor intensity, while greatly improved lab or productivity. However, the upper and lower common in CNC machining processes material, usually still use manual or traditional relay-controlled semi-automatic device . The former time-consuming and labor intensive, inefficient; the latter due to design c omplexity, require more relays, wiring complexity, vulnerability to body vibration inte rference, while the existence of poor reliability, fault more maintenance problems and other issues. Programmable Logic Controller PLC-controlled robot control system for materials up and down movement is simple, circuit design is reasonable, with a stron g anti-jamming capability, ensuring the system's reliability, reduced maintenance rate, and improve work efficiency. Robot technology related to mechanics, mechanics, elec trical hydraulic technology, automatic control technology, sensor technology and com puter technology and other fields of science, is a cross-disciplinary integrated technol ogy.First, an overview of industrial manipulatorRobot is a kind of positioning control can be automated and can be re-programmed to change in multi-functional machine, which has multiple degrees of freedom can be used to carry an object in order to complete the work in different environments. Low wages in China, plastic products industry, although still a labor-intensive, mechanical hand use has become increasingly popular. Electronics and automotive industries thatEurope and the United States multinational companies very early in their factories in China, the introduction of automated production. But now the changes are those found in industrial-intensive South China, East China's coastal areas, local plastic processin g plants have also emerged in mechanical watches began to become increasingly inter ested in, because they have to face a high turnover rate of workers, as well as for the workers to pay work-related injuries fee challenges.With the rapid development of China's industrial production, especially the reform and opening up after the rapid increase in the degree of automation to achieve the wor kpiece handling, steering, transmission or operation of brazing, spray gun, wrenches a nd other tools for processing and assembly operations since, which has more and mor e attracted our attention. Robot is to imitate the manual part of the action, according to a given program, track and requirements for automatic capture, handling or operation of the automatic mechanical devices.In real life, you will find this a problem. In the machine shop, the processing of part s loading time is not annoying, and labor productivity is not high, the cost of producti on major, and sometimes man-made incidents will occur, resulting in processing were injured. Think about what could replace it with the processing time of a tour as long a s there are a few people, and can operate 24 hours saturated human right? The answer is yes, but the robot can come to replace it.Production of mechanical hand can increase the automation level of production and labor productivity; can reduce labor intensity, ensuring product quality, to achieve saf e production; particularly in the high-temperature, high pressure, low temperature, lo w pressure, dust, explosive, toxic and radioactive gases such as poor environment can replace the normal working people. Here I would like to think of designing a robot to be used in actual production.Why would a robot designed to provide a pneumatic power: pneumatic robot refers to the compressed air as power source-driven robot. With pressure-driven and other en ergy-driven comparison have the following advantages: 1. Air inexhaustible, used late r discharged into the atmosphere, does not require recycling and disposal, do not pollu te the environment. (Concept of environmental protection) 2. Air stick is small, the pipeline pressure loss is small (typically less than asphalt gas path pressure drop of one-thousandth), to facilitate long-distance transport. 3. Compressed air of the working pre ssure is low (usually 4 to 8 kg / per square centimeter), and therefore moving the mate rial components and manufacturing accuracy requirements can be lowered. 4. With th e hydraulic transmission, compared to its faster action and reaction, which is one of th e advantages pneumatic outstanding. 5. The air cleaner media, it will not degenerate, n ot easy to plug the pipeline. But there are also places where it fly in the ointment: 1. A s the compressibility of air, resulting in poor aerodynamic stability of the work, resulti ng in the implementing agencies as the precision of the velocity and not easily control led. 2. As the use of low atmospheric pressure, the output power can not be too large; i n order to increase the output power is bound to the structure of the entire pneumatic s ystem size increased.With pneumatic drive and compare with other energy sources drive has the followin g advantages:Air inexhaustible, used later discharged into the atmosphere, without recycling and disposal, do not pollute the environment. Accidental or a small amount of leakage wo uld not be a serious impact on production. Viscosity of air is small, the pipeline pressu re loss also is very small, easy long-distance transport.The lower working pressure of compressed air, pneumatic components and therefor e the material and manufacturing accuracy requirements can be lowered. In general, re ciprocating thrust in 1 to 2 tons pneumatic economy is better.Compared with the hydraulic transmission, and its faster action and reaction, which is one of the outstanding merits of pneumatic.Clean air medium, it will not degenerate, not easy to plug the pipeline. It can be saf ely used in flammable, explosive and the dust big occasions. Also easy to realize auto matic overload protection.Second, the composition, mechanical handRobot in the form of a variety of forms, some relatively simple, some more complic ated, but the basic form is the same as the composition of the , Usually by the implem enting agencies, transmission systems, control systems and auxiliary devices composed.1.Implementing agenciesManipulator executing agency by the hands, wrists, arms, pillars. Hands are crawlin g institutions, is used to clamp and release the workpiece, and similar to human finger s, to complete the staffing of similar actions. Wrist and fingers and the arm connecting the components can be up and down, left, and rotary movement. A simple mechanical hand can not wrist. Pillars used to support the arm can also be made mobile as needed .2. TransmissionThe actuator to be achieved by the transmission system. Sub-transmission system c ommonly used manipulator mechanical transmission, hydraulic transmission, pneuma tic and electric power transmission and other drive several forms.3. Control SystemManipulator control system's main role is to control the robot according to certain p rocedures, direction, position, speed of action, a simple mechanical hand is generally not set up a dedicated control system, using only trip switches, relays, control valves a nd circuits can be achieved dynamic drive system control, so that implementing agenc ies according to the requirements of action. Action will have to use complex program mable robot controller, the micro-computer control.Three, mechanical hand classification and characteristicsRobots are generally divided into three categories: the first is the general machinery does not require manual hand. It is an independent not affiliated with a particular host device. It can be programmed according to the needs of the task to complete the oper ation of the provisions. It is characterized with ordinary mechanical performance, also has general machinery, memory, intelligence ternary machinery. The second category is the need to manually do it, called the operation of aircraft. It originated in the atom, military industry, first through the operation of machines to complete a particular job, and later developed to operate using radio signals to carry out detecting machines suc h as the Moon. Used in industrial manipulator also fall into this category. The third cat egory is dedicated manipulator, the main subsidiary of the automatic machines or automatic lines, to solve the machine up and down the workpiece material and delivery. T his mechanical hand in foreign countries known as the "Mechanical Hand", which is t he host of services, from the host-driven; exception of a few outside the working proc edures are generally fixed, and therefore special.Main features:First, mechanical hand (the upper and lower material robot, assembly robot, handlin g robot, stacking robot, help robot, vacuum handling machines, vacuum suction crane, labor-saving spreader, pneumatic balancer, etc.).Second, cantilever cranes (cantilever crane, electric chain hoist crane, air balance th e hanging, etc.)Third, rail-type transport system (hanging rail, light rail, single girder cranes, doubl e-beam crane)Four, industrial machinery, application of handManipulator in the mechanization and automation of the production process develo ped a new type of device. In recent years, as electronic technology, especially comput er extensive use of robot development and production of high-tech fields has become a rapidly developed a new technology, which further promoted the development of ro bot, allowing robot to better achieved with the combination of mechanization and auto mation.Although the robot is not as flexible as staff, but it has to the continuous duplication of work and labor, I do not know fatigue, not afraid of danger, the power snatch weig ht characteristics when compared with manual large, therefore, mechanical hand has b een of great importance to many sectors, and increasingly has been applied widely, for example:(1) Machining the workpiece loading and unloading, especially in the automatic lat he, combination machine tool use is more common.(2) In the assembly operations are widely used in the electronics industry, it can be used to assemble printed circuit boards, in the machinery industry It can be used to ass emble parts and components.(3) The working conditions may be poor, monotonous, repetitive easy to sub-fatigue working environment to replace human labor.(4) May be in dangerous situations, such as military goods handling, dangerous go ods and hazardous materials removal and so on..(5) Universe and ocean development.(6), military engineering and biomedical research and testing.Help mechanical hands: also known as the balancer, balance suspended, labor-saving spreader, manual Transfer machine is a kind of weightlessness of manual load system, a novel, time-saving technology for material handling operations booster equipment, belonging to kinds of non-standard design of series products. Customer application ne eds, creating customized cases. Manual operation of a simulation of the automatic ma chinery, it can be a fixed program draws ﹑ handling objects or perform household to ols to accomplish certain specific actions. Application of robot can replace the people engaged in monotonous ﹑ repetitive or heavy manual labor, the mechanization and a utomation of production, instead of people in hazardous environments manual operati on, improving working conditions and ensure personal safety. The late 20th century, 4 0, the United States atomic energy experiments, the first use of radioactive material ha ndling robot, human robot in a safe room to manipulate various operations and experi mentation. 50 years later, manipulator and gradually extended to industrial production sector, for the temperatures, polluted areas, and loading and unloading to take place t he work piece material, but also as an auxiliary device in automatic machine tools, ma chine tools, automatic production lines and processing center applications, the comple tion of the upper and lower material, or From the library take place knife knife and so on according to fixed procedures for the replacement operation. Robot body mainly b y the hand and sports institutions. Agencies with the use of hands and operation of obj ects of different occasions, often there are clamping ﹑ support and adsorption type of care. Movement organs are generally hydraulic pneumatic ﹑﹑ electrical device dri vers. Manipulator can be achieved independently retractable ﹑ rotation and lifting m ovements, generally 2 to 3 degrees of freedom. Robots are widely used in metallurgic al industry, machinery manufacture, light industry and atomic energy sectors.Can mimic some of the staff and arm motor function, a fixd procedure for the capture, handling objects or operating tools, automatic operation device. It can replace hum an labor in order to achieve the production of heavy mechanization and automation th at can operate in hazardous environments to protect the personal safety, which is wide ly used in machinery manufacturing, metallurgy, electronics, light industry and nuclea r power sectors. Mechanical hand tools or other equipment commonly used for additio nal devices, such as the automatic machines or automatic production line handling an d transmission of the workpiece, the replacement of cutting tools in machining centers , etc. generally do not have a separate control device. Some operating devices require direct manipulation by humans; such as the atomic energy sector performs household hazardous materials used in the master-slave manipulator is also often referred to as m echanical hand.Manipulator mainly by hand and sports institutions. Task of hand is holding the wor kpiece (or tool) components, according to grasping objects by shape, size, weight, mat erial and operational requirements of a variety of structural forms, such as clamp type, type and adsorption-based care such as holding. Sports organizations, so that the com pletion of a variety of hand rotation (swing), mobile or compound movements to achie ve the required action, to change the location of objects by grasping and posture. Robot is the automated production of a kind used in the process of crawling and mo ving piece features automatic device, which is mechanized and automated production process developed a new type of device. In recent years, as electronic technology, esp ecially computer extensive use of robot development and production of high-tech fiel ds has become a rapidly developed a new technology, which further promoted the dev elopment of robot, allowing robot to better achieved with the combination of mechani zation and automation. Robot can replace humans completed the risk of duplication of boring work, to reduce human labor intensity and improve labor productivity. Manipu lator has been applied more and more widely, in the machinery industry, it can be use d for parts assembly, work piece handling, loading and unloading, particularly in the a utomation of CNC machine tools, modular machine tools more commonly used. At pr esent, the robot has developed into a FMS flexible manufacturing systems and flexibl e manufacturing cell in an important component of the FMC. The machine tool equipment and machinery in hand together constitute a flexible manufacturing system or a f lexible manufacturing cell, it was adapted to small and medium volume production, y ou can save a huge amount of the work piece conveyor device, compact, and adaptabl e. When the work piece changes, flexible production system is very easy to change wi ll help enterprises to continuously update the marketable variety, improve product qua lity, and better adapt to market competition. At present, China's industrial robot techno logy and its engineering application level and comparable to foreign countries there is a certain distance, application and industrialization of the size of the low level of robo t research and development of a direct impact on raising the level of automation in Ch ina, from the economy, technical considerations are very necessary. Therefore, the stu dy of mechanical hand design is very meaningful.附件1：外文资料翻译译文机械手机械手是近几十年发展起来的一种高科技自动化生产设备。
中英文文献翻译-机械手
附录ManipulatorRobot 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. The former time-consuming and labor intensive, inefficient; the latter due to design complexity, require more relays, wiring complexity, vulnerability to body vibration interference, while the existence of poor reliability, fault more maintenance problems and other issues. Programmable LogicController PLC-controlled robot control system for materials up and down movement is simple, circuit design is reasonable, with a strong anti-jamming capability, ensuring the system's reliability, reduced maintenance rate, and improve work efficiency. Robot technology related to mechanics, mechanics, electrical hydraulic technology, automatic control technology, sensor technology and computer technology and other fields of science, is a cross-disciplinary integrated technology.1. an overview of industrial manipulatorRobot is a kind of positioning control can be automated and can be re-programmed to change in multi-functional machine, which has multiple degrees of freedom can be used to carry an object in order to complete the work in different environments. Low wages in China, plastic products industry, although still a labor-intensive, mechanical hand use has become increasingly popular. Electronics and automotive industries that Europe and the United States multinational companies very early in their factories in China, the introduction of automated production. But now the changes are those found in industrial-intensive South China, East China's coastal areas, local plastic processing plants have also emerged in mechanical watches began to become increasingly interested in, because they have to face ahigh turnover rate of workers, as well as for the workers to pay work-related injuries fee challenges.With the rapid development of China's industrial production, especially the reform and opening up after the rapid increase in the degree of automation to achieve the workpiece handling, steering, transmission or operation of brazing, spray gun, wrenches and other tools for processing and assembly operations since, which has more and more attracted our attention.Robot is to imitate the manual part of the action, according to a given program, track and requirements for automatic capture, handling or operation of the automatic mechanical devices.In real life, you will find this a problem. In the machine shop, the processing of parts loading time is not annoying, and labor productivity is not high, the cost of production major, and sometimes man-made incidents will occur, resulting in processing were injured. Think about what could replace it with the processing time of a tour as long as there are a few people, and can operate 24 hours saturated human right? The answer is yes, but the robot can come to replace it.Production of mechanical hand can increase the automation level of production and labor productivity; can reduce laborintensity, ensuring product quality, to achieve safe production; particularly in the high-temperature, high pressure, low temperature, low pressure, dust, explosive, toxic and radioactive gases such as poor environment can replace the normal working people. Here I would like to think of designing a robot to be used in actual production.Why would a robot designed to provide a pneumatic power: pneumatic robot refers to the compressed air as power source-driven robot. With pressure-driven and other energy-driven comparison have the following advantages: 1. Air inexhaustible, used later discharged into the atmosphere, does not require recycling and disposal, do not pollute the environment. (Concept of environmental protection) 2. Air stick is small, the pipeline pressure loss is small (typically less than asphalt gas path pressure drop of one-thousandth), to facilitate long-distance transport. 3. Compressed air of the working pressure is low (usually 4 to 8 kg / per square centimeter), and therefore moving the material components and manufacturing accuracy requirements can be lowered. 4. With the hydraulic transmission, compared to its faster action and reaction, which is one of the advantages pneumatic outstanding. 5. The air cleaner media, it will not degenerate, not easy to plug thepipeline. But there are also places where it fly in the ointment: 1. As the compressibility of air, resulting in poor aerodynamic stability of the work, resulting in the implementing agencies as the precision of the velocity and not easily controlled. 2. As the use of low atmospheric pressure, the output power can not be too large; in order to increase the output power is bound to the structure of the entire pneumatic system size increased.With pneumatic drive and compare with other energy sources drive has the following advantages:Air inexhaustible, used later discharged into the atmosphere, without recycling and disposal, do not pollute the environment. Accidental or a small amount of leakage would not be a serious impact on production.Viscosity of air is small, the pipeline pressure loss also is very small, easy long-distance transport.The lower working pressure of compressed air, pneumatic components and therefore the material and manufacturing accuracy requirements can be lowered. In general, reciprocating thrust in 1 to 2 tons pneumatic economy is better.Compared with the hydraulic transmission, and its faster action and reaction, which is one of the outstanding merits of pneumatic.Clean air medium, it will not degenerate, not easy to plug the pipeline.It can be safely used in flammable, explosive and the dust big occasions. Also easy to realize automatic overload protection. 2. the composition, mechanical handRobot in the form of a variety of forms, some relatively simple, some more complicated, but the basic form is the same as the composition of the, Usually by the implementing agencies, transmission systems, control systems and auxiliary devices composed.2.1 Implementing agenciesManipulator executing agency by the hands, wrists, arms, pillars. Hands are crawling institutions, is used to clamp and release the workpiece, and similar to human fingers, to complete the staffing of similar actions. Wrist and fingers and the arm connecting the components can be up and down, left, and rotary movement. A simple mechanical hand can not wrist. Pillars used to support the arm can also be made mobile as needed.2.2 TransmissionThe actuator to be achieved by the transmission system. Sub-transmission system commonly used manipulator mechanical transmission, hydraulic transmission, pneumatic andelectric power transmission and other drive several forms.2.3 Control SystemManipulator control system's main role is to control the robot according to certain procedures, direction, position, speed of action, a simple mechanical hand is generally not set up a dedicated control system, using only trip switches, relays, control valves and circuits can be achieved dynamic drive system control, so that implementing agencies according to the requirements of action. Action will have to use complex programmable robot controller, the micro-computer control.3 mechanical hand classification and characteristicsRobots are generally divided into three categories: the first is the general machinery does not require manual hand. It is an independent not affiliated with a particular host device. It can be programmed according to the needs of the task to complete the operation of the provisions. It is characterized with ordinary mechanical performance, also has general machinery, memory, intelligence ternary machinery. The second category is the need to manually do it, called the operation of aircraft. It originated in the atom, military industry, first through the operation of machines to complete a particular job, and later developed tooperate using radio signals to carry out detecting machines such as the Moon. Used in industrial manipulator also fall into this category. The third category is dedicated manipulator, the main subsidiary of the automatic machines or automatic lines, to solve the machine up and down the workpiece material and delivery. This mechanical hand in foreign countries known as the "Mechanical Hand", which is the host of services, from the host-driven; exception of a few outside the working procedures are generally fixed, and therefore special.Main features:First, mechanical hand (the upper and lower material robot, assembly robot, handling robot, stacking robot, help robot, vacuum handling machines, vacuum suction crane, labor-saving spreader, pneumatic balancer, etc.).Second, cantilever cranes (cantilever crane, electric chain hoist crane, air balance the hanging, etc.)Third, rail-type transport system (hanging rail, light rail, single girder cranes, double-beam crane)4 industrial machinery, application of hand Manipulator in the mechanization and automation of the production process developed a new type of device. In recentyears, as electronic technology, especially computer extensive use of robot development and production of high-tech fields has become a rapidly developed a new technology, which further promoted the development of robot, allowing robot to better achieved with the combination of mechanization and automation.Although the robot is not as flexible as staff, but it has to the continuous duplication of work and labor, I do not know fatigue, not afraid of danger, the power snatch weight characteristics when compared with manual large, therefore, mechanical hand has been of great importance to many sectors, and increasingly has been applied widely, for example:(1) Machining the workpiece loading and unloading, especially in the automatic lathe, combination machine tool use is more common.(2) In the assembly operations are widely used in the electronics industry, it can be used to assemble printed circuit boards, in the machinery industryIt can be used to assemble parts and components.(3) The working conditions may be poor, monotonous, repetitive easy to sub-fatigue working environment to replace human labor.(4) May be in dangerous situations, such as military goods handling, dangerous goods and hazardous materials removal and so on.(5) Universe and ocean development.(6), military engineering and biomedical research and testing. Help mechanical hands: also known as the balancer, balance suspended, labor-saving spreader, manual Transfer machine is a kind of weightlessness of manual load system, a novel, time-saving technology for material handling operations booster equipment, belonging to kinds of non-standard design of series products. Customer application needs, creating customized cases.Manual operation of a simulation of the automatic machinery, it can be a fixed program draws ﹑handling objects or perform household tools to accomplish certain specific actions. Application of robot can replace the people engaged in monotonous ﹑repetitive or heavy manual labor, the mechanization and automation of production, instead of people in hazardous environments manual operation, improving working conditions and ensure personal safety. The late 20th century, 40, the United States atomic energy experiments, the first use of radioactive material handling robot, human robot ina safe room to manipulate various operations and experimentation. 50 years later, manipulator and gradually extended to industrial production sector, for the temperatures, polluted areas, and loading and unloading to take place the work piece material, but also as an auxiliary device in automatic machine tools, machine tools, automatic production lines and processing center applications, the completion of the upper and lower material, or From the library take place knife knife and so on according to fixed procedures for the replacement operation. Robot body mainly by the hand and sports institutions. Agencies with the use of hands and operation of objects of different occasions, often there are clamping ﹑support and adsorption type of care. Movement organs are generally hydraulic pneumatic electrical device drivers. Manipulator can be achieved independently retractable ﹑rotation and lifting movements, generally 2 to 3 degrees of freedom. Robots are widely used in metallurgical industry, machinery manufacture, light industry and atomic energy sectors.Can mimic some of the staff and arm motor function, a fixed procedure for the capture, handling objects or operating tools, automatic operation device. It can replace human labor in order to achieve the production of heavy mechanization andautomation that can operate in hazardous environments to protect the personal safety, which is widely used in machinery manufacturing, metallurgy, electronics, light industry and nuclear power sectors. Mechanical hand tools or other equipment commonly used for additional devices, such as the automatic machines or automatic production line handling and transmission of the workpiece, the replacement of cutting tools in machining centers, etc. generally do not have a separate control device. Some operating devices require direct manipulation by humans; such as the atomic energy sector performs household hazardous materials used in the master-slave manipulator is also often referred to as mechanical hand.Manipulator mainly by hand and sports institutions. Task of hand is holding the workpiece (or tool) components, according to grasping objects by shape, size, weight, material and operational requirements of a variety of structural forms, such as clamp type, type and adsorption-based care such as holding. Sports organizations, so that the completion of a variety of hand rotation (swing), mobile or compound movements to achieve the required action, to change the location of objects by grasping and posture.Robot is the automated production of a kind used in the process of crawling and moving piece features automatic device, which is mechanized and automated production process developed a new type of device. In recent years, as electronic technology, especially computer extensive use of robot development and production of high-tech fields has become a rapidly 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 intensity 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 and unloading, particularly in the automation of CNC machine tools, modular machine tools more commonly used. At present, the robot has developed into a FMS flexible manufacturing systems and flexible manufacturing cell in an important component of the FMC. The machine tool equipment and machinery in hand together constitute a flexible manufacturing system or a flexible manufacturing cell, it was adapted to small and medium volume production, you can save a huge amount of the work piececonveyor device, compact, and adaptable. When the work piece changes, flexible production system is very easy to change will help enterprises to continuously update the marketable variety, improve product quality, and better adapt to market competition. At present, China's industrial robot technology and its engineering application level and comparable to foreign countries there is a certain distance, application 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 considerations are very necessary. Therefore, the study of mechanical hand design is very meaningful.机械手机械手是近几十年发展起来的一种高科技自动化生产设备。
机械手外文翻译
机械手外文翻译.ManipulatorAlong with our country the rapid development of industrial production, rapidly improve degree of automation, implementationartifacts of handling, steering, transmission or toil for welding gun, spray gun, spanner and other tools for processing, assembly operations such as automation, should cause the attention of people more and more.Manipulator is to imitate the people part of the action, accordingto a given program, track and demanding acquirement, handling or operation of the automatic device. Applied in the industrial production of the manipulator is referred to as "industrial manipulator". Application manipulator can improve the automation of production waterin production and labor productivity; Can reduce labor fatigue strength, to ensure product quality, implement safety production; Especially in high temperature and high pressure, low temperature, low pressure, dust, explosive, toxic and radioactive gases such as harsh environment, it instead of people normal work, the more significant. Therefore, in the machining, casting, welding, heat treatment, electroplating, spray painting, assembly, and light industry, transportation industry get more and more extensive application, etc.Manipulator institutional form is simple, strong professionalism, only as a loading device for a machine tools, special-purpose manipulator is ..attached to this machine. Along with the development of industrial technology, produced independently according to the process control to achieve repetitive operation, using range is wide "program control general manipulator", hereinafter referred to as general manipulator. General manipulator used to quickly change the working procedure, adaptability is stronger, so he is in constant transformation in the medium and small batch production of products are widely used.Manipulator is a kind of can automatic positioning control and can change to programming with multifunctional machine, it has more degrees of freedom, can be used to move things to complete the work in different environments. In China the low level of wages, plastic products industry still belongs to the labor-intensive, the use of the manipulator has become more popular. The electronic and automobile industry in Europe and the United States multinational companies very early in their factories in China introduced automatic production. But now the changeis the industrial intensive distribution in south China, east China's coastal regions local plastic processing plant also began to manipulator show more and more interest, because they have to face high worker turnover rate, as as the challengewell s brought about by the workers pay inductrial injury fee.一、The composition of the manipulatorManipulator is in the form of a variety of, some relatively simple, ..some more complex, but the basic form is the same, generally by the actuators, transmission system, control system and the auxiliary device. 1. The actuator manipulator actuators, by the hand, wrist, arm, pillars. Hand is grasping mechanism, which is used to clamp and release artifacts, as a human finger, can complete staff of similar action. Is connected to the fingers and wrist arm components, can be up and down, left and right sides and rotary movement. Simple manipulator can not the wrist. Prop used to support the arm, can also according to need to make it move. 2. The driving system movement of the actuator by the transmission systemto achieve. Common mechanical transmission system of mechanical transmission, hydraulic transmission, pneumatic transmission and power transmission etc. Several forms.3. The control system of manipulator control system main function isto control the manipulator according to certain procedures, movement direction, position, speed, simple manipulator is generally not set special control system, only the stroke switch, relay, control valvesand control circuit can realize dynamic transmission system, theexecuting agency action in accordance with requirements. Action complex manipulator should adopts the programmable controller, microcomputer control. 二、classification and characteristics of the manipulator Robots generally fall into three categories the first is general ..manipulator doesn't need manual operation. It is a kind of independence is not attached to a host device. It can according to the need of the task program, the operation of the provisions to complete.It is with the characteristics of common mechanical performance, alsohas general machinery, memory, intelligence of three yuan. The second is the need to do manually. Called Operating machine. It originated in the atom, military industry, first by Operating machine to complete aspecific assignment, later to use radio signal Operating machine to explore the moon and so on. Used in the forging industry Operating machine falls under this category. The third kind is to use special manipulator, mainly attached to automatic machine or automatic line, used to solve machine tool material and workpiece to send up and down. This manipulator in a foreign country is called "the Mechanical Hand",it is in the service of the host, driven by the host; Except a few working procedures generally is fixed, so it is special.三、The application of industrial manipulatorManipulator is in the process of mechanization, automation production, developed a kind of new type of device. In recent years,with electronic technology, especially the wide application ofelectronic computer, the robot's development and production has become a high technology developed rapidly in the field of an emerging technology, it promoted the development of the manipulator, make the manipulatorcan ..achieve better with the combination of mechanization and automation.Manipulator although it is not as flexible as manpower, but it can have repeated work and labor, do not know fatigue, is not afraid of danger, snatch heavy weights strength characteristics such as largerthan man, as a result, the manipulator has been brought to the attention of the many departments, and have been applied more and more widely.(1) Machine tools machining the workpiece loading and unloading, especially in automatic lathe, use common combination machine tools. (2) Widely used in the assembly operation, it can be used to assembleprinted circuit board in the electronics industry, it can be in the machinery industry to assemble parts.(3) Can be in working conditions is poor, repetitive easy fatigue of the work environment, to instead of human Labour.(4) The development of the universe and the ocean.(5) Military engineering and biomedical research and test.Application of robots can replace people in dull, repetitive orheavy manual work, to realize mechanization and automation of production, instead of human in harmful environment of manual operation, improve labor condition, ensure the personal safety. In the late 1940 s, the United States in the nuclear experiments, firstly adopts manipulator handling radioactive materials, people in the security room to manipulate ..manipulator for various operation and experiment. After the '50 s, robots gradually extended to industrial production department, for usein high temperature, serious pollution of local leave work pieces andthe loading and unloading materials, as auxiliary device in the machine tool automatic machine, automatic production line and processing centerin the application, complete the material up and down or from libraries take put the knives and replace tool operations such as fixed procedure. Manipulator is mainly composed of hand and motion mechanism. Hand mechanism varies according to the usage situation and operation object, the common are holding, hold and the adsorption type etc. Motion mechanism usually driven by hydraulic, pneumatic, electric devices. Manipulator can be achieved independently of scaling, rotation andlifting movement, generally speaking, there are 2 ~ 3 degrees of freedom. Robots are widely used in machinery manufacturing, metallurgy, light industry and atomic energy etc.Manipulator is used in the production process automation with grab and move the workpiece is a kind of automatic device, it is in the process of mechanization, automation production, developed a new type of device. In recent years, with electronic technology, especially the wide application of electronic computer, the robot's development and production has become a high technology developed rapidly in the fieldof an emerging technology, it promoted the development of the ..manipulator, make the manipulator can achieve better with the combination of mechanization and automation. Robots can replace humansdo dangerous, repeat the boring work, reduce human labor intensity and improve labor productivity. Manipulator have been applied more and more widely, it can be used for parts assembled in the machinery industry, processing the workpiece handling, loading and unloading, especially on the automatic CNC machine, combination machine tools more common use. At present, the manipulator has developed into a flexible manufacturing system of FMS and flexible manufacturing cell is an important component of FMC. The machine tool equipment and manipulator of a flexible manufacturing system or flexible manufacturing unit, it is suitable for medium and small batch production, can save a large workpiece delivery device, structure is compact, but also has a strong adaptability. When the workpiece changes, flexible production system is easy to change, is advantageous to the enterprise continuously updated marketable varieties, improve product quality, better adapt to the needs of the market competition. But at present our country's industrial robot technologyand its engineering application level and foreign than there is acertain distance, scale and industrialization level is low, research and development of the manipulator has direct influence on raising the automation level of production in our country, from the consideration on the economic and technology is very necessary. ..Therefore, carries on the research design of the manipulator is very meaningful.四、The development trend of manipulatorCurrent industrial applications of the manipulator gradually expanding, constantly improve the technology performance. Due to the short development time, it has a gradual understanding of process, the manipulator and a technically perfect step by step process, its development trend is:1、To expand the application of manipulator and processing industryAt present domestic robots used in mechanical industry more in cold working operations, while in the hot work such as casting, forging, welding, heat treatment less, and the application of assembly work, etc. So processing work items heavy, complicated shape and high environmental temperature, bring many difficulties to manipulator design, manufacture, it is need to solve the technical difficulties, make the manipulator to better service for processing work. At the same time, in otherindustries and industrial sectors, also will with the constant improvement of the industrial technology level, and gradually expand the use of the manipulator2、Improve the work performance of the industry manipulatorManipulator in the working performance of the pros and cons, ..determines the application and production, it can normal manipulator working performance of the repetitive positioning accuracy and speed ofwork two indicators, decided to ensure the quality of manipulator can complete the operation of the key factors. Therefore to solve good working stability and rapidity of the manipulator's request, besides from solve buffer localization measures, should also be development meet the requirements of mechanical properties and low price of electro-hydraulic servo valve, servo control system was applied to the mechanical hand. 3、Development of modular robotsVariable application manipulator from the characteristics of the manipulator itself, more adapted to the product type, equipment updates, many varieties, small batch, but its cost is high, the special manipulator and cheap, but the scope is limited. Therefore, for some special purpose, you need special design, special processing, thus improving the product cost. In order to adapt to the request of the application field of classify, the structure of the manipulator can be designed to the form of combination. Modular manipulator is a common parts according to the requirement of the job, select necessary to accomplish the function of the unit components, based on the base of combination, deserve to go up with adaptive control part, namely the manipulator with special requirements can be completed. It can simplify the structure, take into account the specificity and design on the use of generality, more in the series design ..and organization of standardization, specialized production, to improve quality and reduce cost of the manipulator, is a kind of promising manipulator4、Has a "vision" and "touch" of so-called "intelligent robots"For artificial has flexible operation and the need for judgment ofthe situation, industrial manipulator is very difficult to replace human labor. Such as in the working process of the accident, disorders and conditions change, etc., manipulator cannot be automatically distinguish correct, but to stop, after waiting for people to rule out accident can continue to work. As a result, people puts forward higher requirementson mechanical hand, hope to make it a "vision", "touch", etc, make it to the judgment, the choice of object, can be continuously adjusted toadapt to changing conditions, and can perform a "hand - eye coordination. This requires a computer can handle a lot of information, require themto exchange of information with machine "dialogue".This "vision", "touch" feedback, controlled by computer, is one part of the "smart" mechanism is called "intelligent robots". Is the so-called "smart" includes: the function of recognition, learning, memory, analysis, judgment. And recognition is through the "visual", "touch" and "hearing" feel "organ" of cognitive object.Which has the function of sensory robot, its performance isperfect, ..can accurately clamping arbitrary azimuth objects, determine an object, weight, work over obstacles, the clamping force is measured automatically, and can automatically adjust, suitable for engaged in the operation of the complex, precision, such as assembly operation, it has a certain development prospects.Intelligent robots is an emerging technology, the study of it will involve the electronic technology, control theory, communication technology, television technology, spatial structure and bionic mechanical discipline. It is an emerging field of modern automatic control technology. With the development of science and intelligent robots will replace people to do more work...外文翻译机械手随着我国工业生产的飞跃发展，自动化程度的迅速提高，实现工件的装卸、转向、输送或是操持焊枪、喷枪、扳手等工具进行加工、装配等作业的自动化，应越来越引起人们的重视。
毕业设计机械手外文翻译
外文翻译译文题目 一种与移动机械臂的部分零件所受载荷相协译文题目调的运动结构（2）原稿题目A kinematically compatible framework for cooperative payload transport by nonholonomic mobile manipulators（2）原稿出处 Auton Robot (2006) 21:227–242 原稿出处A kinematically compatible framework for cooperative payload transport by nonholonomic mobile manipulators （2） M. Abou-Samah 1 , C. P. Tang 2 , R. M. Bhatt 2 and V. Krovi 2(1) MSC Software Corporation, Ann Arbor, MI 48105, USA (2) Mechanical (2) Mechanical and and Aerospace Engineering, State University of of New New York at at Buffalo, Buffalo, Buffalo, NY 14260, USA Received: 5 August 2005 Revised: 25 May 2006 Accepted: 30 May 2006 Published online: 5 September 2006 Abstract In this paper, we examine the development of a kinematically compatible control framework for a modular system of wheeled mobile manipulators that can team up to cooperatively transport a common payload. Each individually autonomous mobile manipulator consists of a differentially-driven Wheeled Mobile Robot (WMR) with a mounted two degree-of-freedom (d.o.f) revolute-jointed, planar and passive manipulator arm. The composite wheeled vehicle, formed by placing a payload at the end-effectors of two (or more) such mobile manipulators, has the capability to accommodate, detect and correct both instantaneous and finite relative configuration errors.The kinematically-compatible motion-planning/control framework developed here is intended to facilitate maintenance of all kinematic (holonomic and nonholonomic) constraints within such systems. Given an arbitrary end-effector trajectory, each individual mobile-manipulator's bi-level hierarchical controller first generates a kinematically- feasible desired trajectory for the WMR base, which is then tracked by a suitable lower-level posture stabilizing controller. Two variants of system-level cooperative control schemes schemes——leader-follower and decentralized control control——are then created based on the individual mobile-manipulator control scheme. Both methods are evaluated within an implementation framework that emphasizes both virtual prototyping (VP) and hardware-in-the-loop (HIL) experimentation. Simulation and experimental results of an example of a two-module system are used to highlight the capabilities of a real-time local sensor-based controller for accommodation, detection and corection of relative formation errors. Keywords Composite system-Hardware-in-the-loop-Mobile manipulator- Physical cooperation-Redundancy resolution-Virtual prototypingKinematic collaborationof two mobilemanipulators We now examine two variants of system-level cooperative control schemes schemes——leader-follower and decentralized control control——that can be created based on the individual mobile-manipulator control scheme.Leader-follower approach The first method of modeling such a system considers the midpoint of the mobile base (MP B) of the mobile-manipulator B to be rigidly attached to the end-effector of mobile manipulator A, as depicted in Fig. 4. Figure 4(b) depictshow the end-effector frame {E } of MP A is rigidly attached to the frame at MP B (separated by a constant rotation angle β).(15)Fig. 4 Schematic diagrams of the leader-follower scheme: (a) the 3-link mobile manipulator under analysis, and (b) the two-module composite system MP B now takes on the role of the leader and can be controlled to follow any trajectory trajectory that that is feasible feasible for for a WMR. Hence, given a trajectory trajectory of of the leader MP B , and the preferred manipulator configuration of, Eq. (5) can be rewritten as:(16)and correspondingly Eqs. (6)and correspondingly Eqs. (6)––(8) as:(17)Thus, the trajectory of the virtual (reference) robot for the follower MP A, and the derived velocities can now bedetermined. determined. This This This forms forms forms the the the leader-follower leader-follower leader-follower scheme scheme scheme used used used for for for the the the control control control of of of the the collaborative system carrying a common payload.Decentralized approachThe second second approach approach approach considers considers considers the the frame attached attached to to a point of interest interest on on the common payload as the end-effector frame of both the flanking mobile manipulator systems, as depicted in Fig. 5. Thus, a desired trajectory specified for this payload frame can then provide the desired reference trajectories for the two mobile platforms using the similar framework developedin the previous section by takingand , where . Thispermits Eq. (5) to be rewritten as: (18)Fig. 5 Decentralized control scheme implementation permits the (a) composite system; to be treated as (b) two independent 2-link mobile manipulators and correspondingly Eq. (6)and correspondingly Eq. (6)––(8) as:(19)Each two-link mobile manipulator now controls its configuration with reference to this common end-effector frame mounted on the payload. However, thelocations locations of of of the the the attachments attachments attachments of of of the the the physical physical physical manipulators manipulators manipulators with respect with respect with respect to to to the the payload reference frame must be known apriori.Implementation frameworkWe examine the design and development of a two-stage implementation framework, shown in Fig. 6, that emphasizes both virtual prototyping (VP) based refinement and hardware-in-the-loop (HIL) experimentation.Fig. 6 Paradigm for rapid development and testing of the control scheme on on virtual and physical virtual and physical prototypes Virtual prototyping based refinementIn the first stage, we employ virtual prototyping (VP) tools to rapidly create, evaluate and refine parametric models of the overall system and test various algorithms algorithms in in in simulation simulation simulation within within within a a a virtual virtual virtual environment. environment. environment. 3D 3D 3D solid solid solid models models models of of of the the mobile platforms and the manipulators of interest are created in a CAD package,4 and exported with their corresponding geometric and material properties into a dynamic simulation environment.5 Figure 7(a) shows an example of the application of such framework for simulating the motion of a mobile platformcontrolled controlled by an by an by an algorithm algorithm algorithm implemented implemented implemented in Simulink.in Simulink.6 However, However, it is important it is importantto note that the utility of such virtual testing is limited by: (a) the ability to correctly model and simulate the various phenomena within the virtual environment; (b) the fidelity of the available simulation tools; and (c) ultimately, ultimately, the the the ability ability ability of of of the the the designer designer designer to to to correctly correctly correctly model model model the the the desired desired desired system system and suitably interpret the results.Fig. 7 A single WMR base undergoing testing within the (a) virtual prototyping framework; and (b) hardware-in-the-loop (HIL) testing framework Hardware-in-the-loop experimentationWe employ a hardware-in-the-loop (HIL) methodology for rapid experimental verification of the real-time controllers on the electromechanical mobile manipulator prototypes. Each individual WMR is constructed using two powered wheels and two unactuated casters. Conventional disc-type rear wheels, powered by gear-motors, are chosen because of robust physical construction and ease of operation in the presence of terrain irregularities. Passive ball casters are preferred over wheel casters to simplify the constraints on maneuverability introduced by the casters. The mounted manipulator arm has two passive revolute joints with axes of rotation parallel to each other and perpendicular to the base of the mobile platform. The first joint is placed appropriately at the geometric center on top frame of the platform. The location of the second joint can be adjusted to any position along the slotted first link. The second link itself is reduced to a flat plate supported by the second joint. Each joint is instrumented instrumented with with optical encoder that can measure the joint rotations. The completely assembled two-link mobile manipulator is shown in Fig. 1(c). The second mobile manipulator (see left module of Fig. 1(b) and (d)) employs the same same overall overall overall design design design but but possesses possesses a a motor motor at at the the base base base joint joint joint of of of the the mounted two-link arm. The motor may be used to control the joint two-link arm. The motor may be used to control the joint motion along a motion along a predetermined trajectory (which can include braking/holding the joint at a predetermined predetermined position). position). position). When When When the the the motor motor motor is is is switched switched switched off off off the the the joint joint joint now now now reverts reverts to a passive joint (with much greater damping). The motor is included for permitting future force-redistribution studies. In this paper, however, the motor is used solely to lock the joint prevent self-motions self-motions of of the articulated linkage for certain pathological cases (Bhatt et al., 2005; Tang and Krovi, 2004). PWM-output motor driver cards are used to drive the gearmotors; and encoder cards monitor the encoders instrumenting the various articulated arms. This embedded controller controller communicates communicates communicates with with a designated designated host host computer using TCP/IP for program download and data logging. The host computer withMATLAB/Simulink/Real Time Workshop 8 provides a convenient graphical userinterface environment for system-level software development using a block-diagrammatic language. The compiled executable is downloaded over the network and executes in real-time on the embedded controller while accessing locally installed hardware components.In particular, the ability to selectively test components/systems at various levels (e.g. individual motors, individual WMRs or entire systems) without wearing out components during design iterations was very useful. Figure 7(b) illustrates the implementation of such a system on one of the WMRs. Numerous calibration, simulation and experimental studies carried out with this framework, at the individual-level and system-level, are reported in Abou-Samah (2001).Experimental resultsFor the subsequent experiments,99we prescribe the initial configuration configuration of of the two-module composite system, as shown in Fig. 8. Specifically, we position thetwo two WMRs such WMRs such WMRs such that MP that MP that MP A is A is A is located located located at a relative position of at a relative position of ,and with a relative orientation difference of with respect to MP B.For fixed link-lengths this inherently specifies the values of the various configuration angles as shown in Table 1.Table 1 Parameters for the initial configuration of the two-module composite wheeled system (see Fig. 8 for details) Link lengths of the articulationL 1 0.28 0.28 m m m (11 (11 (11 in) in)L 2 0.28 0.28 m m m (11 (11 (11 in) in) Relative angles of the configuration of thearticulationL 3 0.28 0.28 m m m (11 (11 (11 in) in)φ 1 333333.98°.98°.98°φ 2 280.07°280.07°φ 3 337.36°337.36° Offset between the wheeled mobile basesφ 4 128.59°128.59°δ 0.00°0.00°0.00 m (0 in)0.61 0.61 m m m (24 (24 (24 in) in)Fig. 8 Initial configuration of the two-module composite wheeled system Leader-follower approachA straight line trajectory at a velocity of 0.0254 m/s is prescribed for the leader, MP B. Given a desired configuration of the manipulator arm, the algorithm algorithm described in described in described in Section 4.1 Section 4.1 Section 4.1 is used is used is used to to to obtain a desired obtain a desired obtain a desired trajectory for trajectory for MP A. A large disruption is intentionally introduced by causing one of the wheels of MP A to run over a bump, to evaluate the effectiveness of wheels of MP A to run over a bump, to evaluate the effectiveness of the the disturbance accommodation, detection and compensation.The results are examined in two case scenarios examined in two case scenarios –– Case A: MP A employs odometric estimation for localization as seen in Fig. 9, and Case B: MP A employs sensed articulations for localization as seen in Fig. as seen in Fig. 1010. In each of these figures, (a) presents the overall -trajectory of {M } of MPA with respect to the end-effector frame {E } (that is rigidly attached to the {M } of MPB) while (b), (c) and (d) present the relative orientation difference, X -difference and Y -difference as functions of time. Further in both sets of figures, the ‘Desired’ (––(–– line) is the desired trajectory typically computed offline; and ‘Actual’ (–o – line) is the actual trajectory followed by the system, as determined by post-processing the measurements of the instrumented articulations.However, in Fig. However, in Fig. 99, the (, the (––x – line) represents the odometric estimate while in Fig. in Fig. 1010 it stands for the articulation based estimate (which therefore coincides with the ‘Actual’ (–coincides with the ‘Actual’ (–o o – line) trajectory).Fig. 9 Case A: Odometric Estimation of Frame M, used in the control of MP A following MPB in a leader-follower approach, is unable to detect non-systematic errors such as wheel-slip. (a) XY trajectory of Frame M; (b) Orientation versus Time; (c) X position of Frame M versus Time; and (d) Y position of Frame M versus Time Fig. 10 Case B: Articulation based Estimation of Frame M, used for control of MPA with respect to MP B in a leader-follower approach is able to detect and correct non-systematic errors such as wheel-slip. slip. (a) (a) XY trajectory of Frame M; (b) Orientation versus Time; (c) X position of Frame M versus time; and (d) Y position of Frame M versus time In Case A, the introduction of the disruption causes a drift in the relative configuration of the system which remains undetected by the odometric estimation. Further, as seen in Fig. 9, this drift has a tendency to grow if left uncorrected. However, as seen in Fig. 10, the system can use the articulation-based articulation-based estimation estimation estimation (Case (Case (Case B) B) B) to to not only only detect detect detect disturbances disturbances disturbances to to to the the relative configuration but also to successfully restore the original system configuration.Decentralized control approachIn this decentralized control scenario, a straight line trajectory with a velocity of 0.0254 m/s is presented for the payload frame. As in the leader-follower scenario, a large disruption is introduced by causing one of the wheels of MP A to run over a bump. The algorithm is tested using two further case scenarios scenarios——Case Case C:C: Both mobile mobile platforms platforms platforms employ employ odometric odometric estimation estimation estimation for for localization as shown in Fig. as shown in Fig. 1111, and Case D: Both mobile platforms employsensed articulations for localization as shown in Fig. as shown in Fig. 1212.Fig. 11 Case C: Odometric estimation of frames M of MP A and MP B, used in the control of MP A with respect to MP B in the decentralized approach, is again unable to detect non-systematic errors such as wheel-slip. (a) XY trajectory of frame M of MP A; (b) XY trajectory of frame M of MP B; (c) Relative orientation, between MP A and MP B, versus time; (d) X distance, between MP A and MP B, versus time; and (e) Y distance, between MP A and MP B, versus time. (f) Sequential photographs of the corresponding composite system motion (as time progresses from left to right along each row)Fig. 12 Case D: Articulation based estimation of frames M of MP A and MP B, used for the control of MP A and MP B with respect to a payload-fixed frame is able to detect and correct non-systematic errors such as wheel-slip. (a) XY trajectory of frame M of MP A; (b) XY trajectory of frame M of MP B; (c) Relative orientation, between MP A and MP B, versus time; (d) X distance, between MP A and MP B, versus time; and (e) Y distance, between MP A and MP B, versus time. (f) Sequential photographs of the corresponding composite system motion (as time progresses from left to right along each row) In In each each each of of of these these these figures, figures, figures, subplots subplots subplots (a) (a) (a) and and and (b) (b) (b) presents presents presents the the the overall overalltrajectories trajectories of of frames frames {{M } of MP A and MP B respectively respectively with with with respect respect respect to to their initial poses. Subplots (c), (d) and (e) present the relative orientation difference, X -difference and Y -difference of frames {M } of MP A and MP B respectively as functions of time. Further in both sets of figures, the ‘Desired’ ‘Desired’ (––(––(–– line) is the desired trajectory trajectory typically typically computed offline; and ‘Actual’ (–and ‘Actual’ (–o o – line) is the actual trajectory followed by the system, as determined by post-processing the measurements of the instrumented articulations. articulations. However, However, However, in in in Fig. Fig. Fig. 1111, the (–x – line) line) represents represents represents the the odometric estimate while in Fig. estimate while in Fig. 1212 it stands for the articulation based estimate.In Case C, both mobile platforms use the odometric estimation for localization —hence hence as as as expected, expected, expected, Fig. Fig. Fig. 1111 reflects reflects the the the fact fact fact that that that the the the system system system is is unable unable to to to detect detect detect or or or correct correct correct for for for changes changes changes in in in the the the relative relative relative system system system configuration. configuration. However the data obtained from the articulations accurately captures theexistence of errors between the frames of reference of MP B and MP A. Thus, using the articulation-based articulation-based estimation estimation of relative configuration for control as in Case D allows the detection of disturbances and successful restoration of the original system configuration configuration as as shown in Fig. 12. Note, however, however, while while the relative system configuration is maintained, errors relative to a global reference frame cannot be detected if both WMRs undergo identical simultaneous disturbances . Detection of such absolute errors would require an external reference and is beyond the scope of the existing framework.ConclusionIn this paper, we examined the design, development and validation of a kinematically compatible framework for cooperative transport of a common payload payload by by by a a team team of of nonholonomic nonholonomic mobile mobile mobile manipulators. manipulators. manipulators. Each Each Each individual individual individual mobile mobile manipulator module consists of a differentially driven wheeled WMR retrofitted with with a a a passive passive passive two two two revolute revolute revolute jointed jointed jointed planar planar planar manipulator manipulator manipulator arm. arm. arm. A composite A composite A composite multi multi degree-of-freedom degree-of-freedom vehicle vehicle system could then be modularly created by attaching a common payload on the end-effector of two or more such modules.The composite composite system system allowed payload trajectory tracking errors, arising from subsystem controller errors or environmental disturbances, to be readily accommodated within the compliance offered by the articulated linkage. The individual mobile manipulators compensated by modifying their WMR bases’ motion plans to ensure prioritized satisfaction of the nonholonomic constraints. constraints. The The stabilizing controllers of the WMR bases could then track the recomputed “desired motion plans” to help restore the system system-configuration. -configuration. This scheme not only explicitly ensured maintenance of the kinematic compatibility constraints within the system but is also well suited for an online sensor-based motion planning implementation.This This algorithm was algorithm was algorithm was then then then adapted to adapted to adapted to create two create two create two control schemes for control schemes for the overall composite system — the leader follower approach and the decentralized approach. We evaluated both approaches within an implementation framework that emphasized both, virtual prototyping and hardware-in-the-loop using the case-study of a two module composite system. Experimental results verified the ability of the composite system with sensed articulations to not only accommodate instantaneous disturbances due to terrain irregularities but also to to detect detect detect and and and correct correct correct drift drift drift in in in the the the relative relative relative system system system configuration. configuration. configuration. The The The overall overall framework readily facilitates generalization to treat larger systems with many more mobile manipulator modules.Appendix AThe kinematic constraint equations shown in Eq. (3) may be written in the general form as:(20)Then the velocity constraint equation can be written as:(21)The general solution to this differential equation is:(22)By appropriate selection of the initial conditions within the experimentalsetup, one can create the condition , i.e., exactly satisfying the constraint at the initial time, which then permits the constraint constraint to be to be to be satisfied satisfied satisfied for all for all for all time. However, time. However, time. However, one could also one could also one could also enhance this enhance this process by adding another term to the right-hand-side of Eq. (21) as:(23)where Φ is a positive-definite positive-definite constant constant matrix. This results in a first order stable system:(24)whose solution for any arbitrary initial configuration is:(25)In such systems, there is no longer a requirement to enforcesince the solution exponentially stabilizes to regardless of the initial conditions. 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Kluwer Academic Publishers, Boston, MA. Murray, R.M. and Sastry, S.S. 1993. Nonholonomic motion planning: Steering using sinusoids. IEEE Transactions on Automatic Control, 38(5):700–716. Nakamura, Y . 1991. A dvanced Advanced Robotics: Redundancy and Optimization. Addison-Wesley Publishing Company, Inc., California. Samson, Samson, C. C. C. and and and Ait-Abderrahim, Ait-Abderrahim, Ait-Abderrahim, K. K. K. 1991a. 1991a. 1991a. Feedback Feedback Feedback control control control of of of a a a nonholonomic nonholonomic nonholonomic wheeled wheeled wheeled cart cart cart in in cartesian space. space. In In Proceedings of the 1991 IEEE International Conference on Robotics and Automation , Sacramento CA, pp. 1136–1141. Samson, C. and Ait-Abderrahim, K. 1991b. Feedback stabilization of a nonholonomic wheeled mobile robot. robot. In In Proceedings of the 1991 IEEE/RSJ International Workshop on Intelligent Robots andSystems , Osaka, Japan, pp. 1242–1247. Schenker, P .S., Huntsberger, T.L., Pirjanian, P ., Trebi-Ollennu, A., Das, H., Joshi, S., Aghazarian, H., Ganino, A.J., Kennedy, B.A., and Garrett, M.S. 2000. Robot work crews for planetary outposts: Close cooperation and coordination of multiple mobile robots. In Procedings of SPIE Symposium on Sensor Fusion and Decentralized Control in Robotic Systems III , Boston, MA. Seraji, Seraji, H. H. H. 1998. 1998. 1998. A A A unified unified unified approach approach approach to to to motion motion motion control control control of of of mobile mobile mobile manipulators. manipulators. The International Journal of Robotics Research, 17(2):107, 17(2):107–118. Spletzer, J., Das, A.K., Fierro, C.J., Kumar, V., and Ostrowski, J.P. 2001. Cooperative localization and control for multi-robot manipulation. In Procedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, Hawaii, USA, pp. 631–636. Stilwell, Stilwell, D.J. D.J. D.J. and and and Bay, Bay, Bay, J.S. J.S. J.S. 1993. 1993. 1993. Towards Towards Towards the the the development development development of of of a a a material material material transport transport transport system system system using using swarms of ant-like robots. In Procedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, Atlanta, GA, pp. 766, Atlanta, GA, pp. 766–771. Tang, C.P . 2004. Manipulability-based analysis of cooperative payload transport by robot collectives. M.S. Thesis, University at Buffalo, Buffalo, NY . Tang, C.P . and Krovi, V. 2004. Manipulability-based configuration evaluation of cooperative payload transport by by mobile mobile robot collectives. In Proceedings of the 2004 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference , DETC2004-57476, Salt Lake City, UT, USA. Tanner, H.G., Kyriakopoulos, K.J., and Krikelis, N.I. 1998. Modeling of multiple mobile manipulators handling a common deformable object. Journal of Robotic Systems, 15(11):599, 15(11):599, 15(11):599––623. Wang, Z.-D., Nakano, E., and Matsukawa, T. 1994. Cooperating multiple behavior-based robots for object manipulation. In 1994 1994 IEEE/RSJ International Conference on Intelligent Robots and Systems . Whitney, Whitney, D.E. D.E. D.E. 1969. 1969. 1969. Resolved Resolved Resolved motion motion motion rate rate rate control control control of of of manipulators manipulators manipulators and and and human human human prostheses. prostheses. IEEE Transactions on Man-Machine Systems, MMS-10;47, MMS-10;47–53. Yamamoto, Y. 1994. Control and coordination of locomotion and manipulation of a wheeled mobile manipulator. Ph.D. Thesis, University of Pennsylvania, Philadelphia, PA. Yamamoto, Y . and Yun, X. 1994. Coordinating locomotion and manipulation of a mobile manipulator. IEEE Transactions on Automatic Control, 39(6):1326–1332. Footnotes 1．R indicates revolute joint. RRR indicates serial linkages connected by three revolute joints. 2．We denote “desired ” quantities using superscript d in the rest of the paper. 3．Reference robot variables are denoted using superscript r and actual robot variables without any superscript for the rest of the paper. 4．SolidWorks TM was the CAD package used for this work. 5．MSC Visual Nastran TM was the dynamic simulation environment used for this work. 。
机械手臂外文翻译
外文出处：《Manufacturing Engineering and Technology—Machining》外文原文ManipulatorRobot developed in recent decades as high-tech automated production equipment. Industrial rob ot 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 mac hines, in particular, reflects the people's intelligence and adaptability. The accuracy of robot operat ions and a variety of environments the ability to complete the work in the field of national econom y and there are broad prospects for development. With the development of industrial automation, t here has been CNC machining center, it is in reducing labor intensity, while greatly improved labo r productivity. However, the upper and lower common in CNC machining processes material, usua lly still use manual or traditional relay-controlled semi-automatic device. The former time-consum ing and labor intensive, inefficient; the latter due to design complexity, require more relays, wiring complexity, vulnerability to body vibration interference, while the existence of poor reliability, fa ult more maintenance problems and other issues. Programmable Logic Controller PLC-controlled robot control system for materials up and down movement is simple, circuit design is reasonable, with a strong anti-jamming capability, ensuring the system's reliability, reduced maintenance rate, and improve work efficiency. Robot technology related to mechanics, mechanics, electrical hydrau lic technology, automatic control technology, sensor technology and computer technology and oth er fields of science, is a cross-disciplinary integrated technology.First, an overview of industrial manipulatorRobot is a kind of positioning control can be automated and can be re-programmed to change in multi-functional machine, which has multiple degrees of freedom can be used to carry an object i n order to complete the work in different environments. Low wages in China, plastic products ind ustry, although still a labor-intensive, mechanical hand use has become increasingly popular. Elect ronics and automotive industries that Europe and the United States multinational companies very e arly in their factories in China, the introduction of automated production. But now the changes are those found in industrial-intensive South China, East China's coastal areas, local plastic processing plants have also emerged in mechanical watches began to become increasingly interested in, beca use they have to face a high turnover rate of workers, as well as for the workers to pay work-relate d injuries fee challenges.With the rapid development of China's industrial production, especially the reform and opening up after the rapid increase in the degree of automation to achieve the workpiece handling, steering,transmission or operation of brazing, spray gun, wrenches and other tools for processing and asse mbly operations since, which has more and more attracted our attention. Robot is to imitate the ma nual part of the action, according to a given program, track and requirements for automatic capture , handling or operation of the automatic mechanical devices.In real life, you will find this a problem. In the machine shop, the processing of parts loading ti me is not annoying, and labor productivity is not high, the cost of production major, and sometime s man-made incidents will occur, resulting in processing were injured. Think about what could rep lace it with the processing time of a tour as long as there are a few people, and can operate 24 hour s saturated human right? The answer is yes, but the robot can come to replace it.Production of mechanical hand can increase the automation level of production and labor produ ctivity; can reduce labor intensity, ensuring product quality, to achieve safe production; particularl y in the high-temperature, high pressure, low temperature, low pressure, dust, explosive, toxic and radioactive gases such as poor environment can replace the normal working people. Here I would l ike to think of designing a robot to be used in actual production.Why would a robot designed to provide a pneumatic power: pneumatic robot refers to the comp ressed air as power source-driven robot. With pressure-driven and other energy-driven comparison have the following advantages: 1. Air inexhaustible, used later discharged into the atmosphere, do es not require recycling and disposal, do not pollute the environment. (Concept of environmental p rotection) 2. Air stick is small, the pipeline pressure loss is small (typically less than asphalt gas pa th pressure drop of one-thousandth), to facilitate long-distance transport. 3. Compressed air of the working pressure is low (usually 4 to 8 kg / per square centimeter), and therefore moving the mate rial components and manufacturing accuracy requirements can be lowered. 4. With the hydraulic t ransmission, compared to its faster action and reaction, which is one of the advantages pneumatic outstanding. 5. The air cleaner media, it will not degenerate, not easy to plug the pipeline. But ther e are also places where it fly in the ointment: 1. As the compressibility of air, resulting in poor aer odynamic stability of the work, resulting in the implementing agencies as the precision of the velo city and not easily controlled. 2. As the use of low atmospheric pressure, the output power can not be too large; in order to increase the output power is bound to the structure of the entire pneumatic system size increased.With pneumatic drive and compare with other energy sources drive has the following advantage s:Air inexhaustible, used later discharged into the atmosphere, without recycling and disposal, do not pollute the environment. Accidental or a small amount of leakage would not be a serious impa ct on production. Viscosity of air is small, the pipeline pressure loss also is very small, easy long-distance transport.The lower working pressure of compressed air, pneumatic components and therefore the materi al and manufacturing accuracy requirements can be lowered. In general, reciprocating thrust in 1 t o 2 tons pneumatic economy is better.Compared with the hydraulic transmission, and its faster action and reaction, which is one of th e outstanding merits of pneumatic.Clean air medium, it will not degenerate, not easy to plug the pipeline. It can be safely used in fl ammable, explosive and the dust big occasions. Also easy to realize automatic overload protection. Second, the composition, mechanical handRobot in the form of a variety of forms, some relatively simple, some more complicated, but the basic form is the same as the composition of the , Usually by the implementing agencies, transmis sion systems, control systems and auxiliary devices composed.1.Implementing agenciesManipulator executing agency by the hands, wrists, arms, pillars. Hands are crawling institution s, is used to clamp and release the workpiece, and similar to human fingers, to complete the staffin g of similar actions. Wrist and fingers and the arm connecting the components can be up and down , left, and rotary movement. A simple mechanical hand can not wrist. Pillars used to support the ar m can also be made mobile as needed.2. TransmissionThe actuator to be achieved by the transmission system. Sub-transmission system commonly us ed manipulator mechanical transmission, hydraulic transmission, pneumatic and electric power tra nsmission and other drive several forms.3. Control SystemManipulator control system's main role is to control the robot according to certain procedures, d irection, position, speed of action, a simple mechanical hand is generally not set up a dedicated co ntrol system, using only trip switches, relays, control valves and circuits can be achieved dynamic drive system control, so that implementing agencies according to the requirements of action. Actio n will have to use complex programmable robot controller, the micro-computer control.Three, mechanical hand classification and characteristicsRobots are generally divided into three categories: the first is the general machinery does not re quire manual hand. It is an independent not affiliated with a particular host device. It can be progra mmed according to the needs of the task to complete the operation of the provisions. It is character ized with ordinary mechanical performance, also has general machinery, memory, intelligence tern ary machinery. The second category is the need to manually do it, called the operation of aircraft. It originated in the atom, military industry, first through the operation of machines to complete a pa rticular job, and later developed to operate using radio signals to carry out detecting machines suc h as the Moon. Used in industrial manipulator also fall into this category. The third category is ded icated manipulator, the main subsidiary of the automatic machines or automatic lines, to solve the machine up and down the workpiece material and delivery. This mechanical hand in foreign count ries known as the "Mechanical Hand", which is the host of services, from the host-driven; excepti on of a few outside the working procedures are generally fixed, and therefore special.Main features:First, mechanical hand (the upper and lower material robot, assembly robot, handling robot, stac king robot, help robot, vacuum handling machines, vacuum suction crane, labor-saving spreader, p neumatic balancer, etc.).Second, cantilever cranes (cantilever crane, electric chain hoist crane, air balance the hanging, e tc.)Third, rail-type transport system (hanging rail, light rail, single girder cranes, double-beam cran e)Four, industrial machinery, application of handManipulator in the mechanization and automation of the production process developed a new ty pe of device. In recent years, as electronic technology, especially computer extensive use of robot development and production of high-tech fields has become a rapidly developed a new technology , which further promoted the development of robot, allowing robot to better achieved with the com bination of mechanization and automation.Although the robot is not as flexible as staff, but it has to the continuous duplication of work an d labor, I do not know fatigue, not afraid of danger, the power snatch weight characteristics when compared with manual large, therefore, mechanical hand has been of great importance to many se ctors, and increasingly has been applied widely, for example:(1) Machining the workpiece loading and unloading, especially in the automatic lathe, combinat ion machine tool use is more common.(2) In the assembly operations are widely used in the electronics industry, it can be used to asse mble printed circuit boards, in the machinery industry It can be used to assemble parts and compo nents.(3) The working conditions may be poor, monotonous, repetitive easy to sub-fatigue working e nvironment to replace human labor.(4) May be in dangerous situations, such as military goods handling, dangerous goods and haza rdous materials removal and so on..(5) Universe and ocean development.(6), military engineering and biomedical research and testing.Help mechanical hands: also known as the balancer, balance suspended, labor-saving spreader, ma nual Transfer machine is a kind of weightlessness of manual load system, a novel, time-saving tec hnology for material handling operations booster equipment, belonging to kinds of non-standard d esign of series products. Customer application needs, creating customized cases. Manual operation of a simulation of the automatic machinery, it can be a fixed program draws ﹑ handling objects o r perform household tools to accomplish certain specific actions. Application of robot can replace t he people engaged in monotonous ﹑ repetitive or heavy manual labor, the mechanization and aut omation of production, instead of people in hazardous environments manual operation, improving working conditions and ensure personal safety. The late 20th century, 40, the United States atomic energy experiments, the first use of radioactive material handling robot, human robot in a safe roo m to manipulate various operations and experimentation. 50 years later, manipulator and gradually extended to industrial production sector, for the temperatures, polluted areas, and loading and unl oading to take place the work piece material, but also as an auxiliary device in automatic machine tools, machine tools, automatic production lines and processing center applications, the completio n of the upper and lower material, or From the library take place knife knife and so on according t o fixed procedures for the replacement operation. Robot body mainly by the hand and sports instit utions. Agencies with the use of hands and operation of objects of different occasions, often there are clamping ﹑ support and adsorption type of care. Movement organs are generally hydraulic pn eumatic ﹑﹑ electrical device drivers. Manipulator can be achieved independently retractable ﹑rotation and lifting movements, generally 2 to 3 degrees of freedom. Robots are widely used in me tallurgical industry, machinery manufacture, light industry and atomic energy sectors.Can mimic some of the staff and arm motor function, a fixd procedure for the capture, handling objects or operating tools, automatic operation device. It can replace human labor in order to achie ve the production of heavy mechanization and automation that can operate in hazardous environm ents to protect the personal safety, which is widely used in machinery manufacturing, metallurgy, e lectronics, light industry and nuclear power sectors. Mechanical hand tools or other equipment co mmonly used for additional devices, such as the automatic machines or automatic production line handling and transmission of the workpiece, the replacement of cutting tools in machining centers, etc. generally do not have a separate control device. Some operating devices require direct manip ulation by humans; such as the atomic energy sector performs household hazardous materials used in the master-slave manipulator is also often referred to as mechanical hand.Manipulator mainly by hand and sports institutions. Task of hand is holding the workpiece (or tool) components, according to grasping objects by shape, size, weight, material and operational re quirements of a variety of structural forms, such as clamp type, type and adsorption-based care suc h as holding. Sports organizations, so that the completion of a variety of hand rotation (swing), mo bile or compound movements to achieve the required action, to change the location of objects by g rasping and posture.Robot is the automated production of a kind used in the process of crawling and moving piece f eatures automatic device, which is mechanized and automated production process developed a ne w type of device. In recent years, as electronic technology, especially computer extensive use of ro bot development and production of high-tech fields has become a rapidly developed a new technol ogy, 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 d uplication of boring work, to reduce human labor intensity and improve labor productivity. Manip ulator has been applied more and more widely, in the machinery industry, it can be used for parts a ssembly, work piece handling, loading and unloading, particularly in the automation of CNC mach ine tools, modular machine tools more commonly used. At present, the robot has developed into a FMS flexible manufacturing systems and flexible manufacturing cell in an important component o f the FMC. The machine tool equipment and machinery in hand together constitute a flexible man ufacturing system or a flexible manufacturing cell, it was adapted to small and medium volume pr oduction, 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 enterpr ises to continuously update the marketable variety, improve product quality, and better adapt to ma rket competition. At present, China's industrial robot technology and its engineering application le vel and comparable to foreign countries there is a certain distance, application and industrializatio n of the size of the low level of robot research and development of a direct impact on raising the le vel of automation in China, from the economy, technical considerations are very necessary. Theref ore, the study of mechanical hand design is very meaningful.外文资料翻译译文机械手机械手是近几十年发展起来的一种高科技自动化生产设备。
机械手外文翻译
机械手外文翻译外文文献原文:Along with the social production progress and people life rhythm is accelerating, people on production efficiency also continuously put forward new requirements. Because of microelectronics technology and calculation software and hardware technology rapid development and modern control theory, theperfection of the fast development, the robot technology pneumatic manipulator system because its media sources do not pollute the environment, simple and cheap components, convenient maintenance and system safety and reliabilitycharacteristic, has penetrated into every sector of the industrial field, in the industrial development plays an important role. This article tells of the pneumatic control robots, furious manipulator XY axis screw group, the turntable institutions,rotating mechanical parts base. Main effect is complete mechanical components handling work, to be placed in different kinds of line or logistics pipeline, make parts handling, transport of goods more quick and convenient.Matters of the manipulator axial linkage simple structure and action processManipulator structure, as shown in figure 1 below have accused of manipulator (1), XY axis screw group (2), the turntable institutions (3), rotating base (4), etc.Its motion control mode is: (1) can rotate by servomotor Angle for 360 ? breath control manipulator (photoelectric sensor sure start 0 point); (2) by stepping motor drive screw component make along the X, Y manipulators move (have X, Y axis limit switches); (3) can rotates 360 ? can drive the turntable institutionsmanipulators and bushings free rotation (its electric drag in partby the dc motivation, photoelectric encoder, close to switch etc); (4) rotating base main support above 3 parts; (5) gas control manipulator by pressure control (Zhangclose when pressed on, put inflatable robot manipulators loosen)when gas.Its working process for: when the goods arrived, manipulator system begins to move; Stepping motor control, while the other start downward motion along thehorizontal axis of the step-motor controller began to move exercise; Servo motordriver arrived just grab goods manipulators rotating the orientation of the place, then inflatable, manipulator clamped goods.Vertical axis stepper motor drive up, the other horizontal axis stepper motordriver started to move forward; rotary DC motor rotation so that the whole robot motion, go to the cargo receiving area; longitudinal axis stepper motor driven down again, arrived at the designated location, Bleed valve, mechanical hand releasethe goods; system back to the place ready for the next action.II. Control device selectionTo achieve precise control purposes, according to market conditions, selection of a variety of key components as follows:1. Stepper motor and driveMechanical hand vertical axis (Y axis) and horizontal (X axis) is chosen Motor Technology Co., Ltd. Beijing Stone 42BYG250C type of two-phase hybrid steppingmotor, step angle of 0.9 ? / 1.8 ?, current is 1.5A. M1 is the horizontal axis motor driven manipulator stretch, shrink; M2 is thevertical axis motor driven manipulator rise and fall. The choice of stepper motor drive is SH-20403 type, the drive uses10 ~ 40V DC power supply, H-phase bridge bipolar constant current drive, themaximum output current of 3A of the 8 optional, maximum fine of 64 segments of7 sub-mode optional optical isolation, standard single-pulse interface, with offlinecapabilities to maintain semi-sealed enclosure can be adapted to environmentalconditions even worse, provide semi-current energy-saving mode automatically.Drive the internal switching power supply design to ensure that the drive can be adapted to a wide voltage range, the user can according to their circumstances to choose between the 10 ~ 40VDC. Generally the higher rated power supply voltagecan improve high-speed torque motor, but the drive will increase the loss and temperature rise. The maximum output drive current is 3A / phase (peak), six drive-panel DIP switch on the first three can be combined 5,6,7 8 out of state,corresponding to the 8 kinds of output current from 0.9A to 3A to meet the different motors. The drive can provide full step, half step improvement, subdivision 4,8 segments, 16 segments, 32 segments and 64 segments of 7 operating modes.The use of six of the drive panel DIP switches 1,2and3 can be combined fromthree different states.2. Servo motors and drivesManipulator with Panasonic servo motor rotational movement A series of small inertia MSMA5AZA1G, the rated 50W, 100/200V share, rotary incrementalencoder specifications (number of pulses 2500p / r, resolution of 10000p / r, Lead 11 lines) ; a seal, no brakes, shaft with keyway connections. The motor uses Panasonic's unique algorithms, the rate increased by 2 times the frequencyresponse, to 500Hz; positioning over the past adjust the scheduled time by Panasonic servo motor products for the V Series of 1 / 4. With the resonance suppression, control, closed loop control, can make up for lack of mechanical rigidity, in order to achieve high positioning accuracy can also be an external grating to form closed loop control to further improve accuracy. With a conventional automatic gain adjustment and real-time automatic gainInterest adjustment in the automatic gain adjustment methods, which also hasRS-485, RS-232C communication port, the host controller can control up to 16 axes. Servo motor drives are a series MSDA5A3A1A, applicable to small inertiamotor.3. DC machine360 ? swing of the turntable can be a brushless DC motor driven organization, thesystem is chosen when the profit company in Beijing and the57BL1010H1 brushless DC motor, its speed range, low-speed torque, smooth running, lownoise, high efficiency. Brushless DC motor drive using the Beijing and when Lee'sBL-0408 produced by the drive, which uses 24 ~ 48V DC power supply, a start-stop and steering control, over current, overvoltage and lockedrotor protection,and there is failure alarm output external analog speed control, braking down so fast.4. Rotary encoderCan swing 360 ? in the body on the turntable, fitted with OMRON E6A2 produced incremental rotary encoder, the encoder signals to the PLC, to achieveprecise positioning of rotary bodies.5. PLC SelectionAccording to the system design requirements, the choice of OMRON CPM2Aproduced minicomputer. CPM2A in a compact unit integrated with a variety of properties, including the synchronization pulse control, interrupt input, pulse output, analog set and clock functions. CPM2A the CPU unit is a stand-alone unit,capable of handling a wide range of application of mechanical control, it is built in the device control unit for the ideal product. Ensure the integrity of communications and personal computers, other OMRON PC and OMRON Programmable Terminal communication. The communication capability allows the robot to Axis simple easyintegration into industrial control systems.III. Software programming1. Software flow chartPLC programming flow chart is based. Only the design flow, it may be smoothand easy to prepare and write a statement form the ladder, and ultimately complete the process design. So write a flow chart of program design is critical to the task first thing to do. Axis Manipulator based on simple control requirements, drawing flow chart shown in Figure 2.2. Program partBecause space is limited, here only paper listed the first two programsegment for readers see.IV. ConclusionAxis simple robot state by the various movements and PLC control,the robot can not only meet the manual, semi-automatic mode of operation required for sucha large number of buttons, switches, position detection point requirements, but also through the interface components and Computer Organization PLC industrial LAN, network communication and network control. Axis simple robot can be easilyembedded into industrial production pipeline.中文译文:随着社会生产不断进步和人们生活节奏不断加快,人们对生产效率也不断提出新要求。
机械手_外文文献及翻译
Model-based Control for 6-DOF ParallelManipulator基于模型的控制六自由度并联机器人Abstract 摘要A novel model-based controller forsix-degree-of-freedom (DOF) parallel manipulator is proposed in this paper,in order to abatement the influence of platform load variety and compel the steady state errors converge to zero 一种新的基于模型的控制器的六自由度并联机器人（自由度）提出，以便消除影响平台负载的品种和迫使稳态误差收敛到零In this paper, 6-DOF parallel manipulator is described as multi-rigid-body systems, the mathematical model of the 6-DOF parallelmanipulator including dynamics based on Kane method and kinematics used closed-form solutions andNewton-Raphson method is built in generalized coordinate system. 在本文中，六自由度并联机器人被描述为多刚体系统，数学模型的六自由度并联机器人基于凯恩方法包括动力学和运动学使用封闭形式的解决方案和牛顿迭代法是建立在广义坐标系统。
The model-based controller is presented with the feedback of cylinders positions of platform, desired trajectories and dynamics gravity as the input and the servovalve current as its output. 基于模型的控制器是与气缸位置反馈平台，所需的轨迹和动态重力作为输入和输出的伺服阀电流。
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。
机械手外文翻译
机械手外文翻译LG GROUP system office room 【LGA16H-LGYY-LGUA8Q8-LGA162】本科毕业设计(论文)外文翻译（附外文原文）学院：机械与控制工程学院课题名称：搬运机械手的结构和液压系统设计专业(方向)：机械设计制造及其自动化（机械装备）班级：学生：指导教师：日期： 2015年3月10日Proceedings of the 33rd Chinese Control ConferenceJuly 28-30, 2014, Nanjing, ChinaThe Remote Control System of the ManipulatorSUN Hua, ZHANG Yan, XUE Jingjing , WU Zongkai College of Automation, Harbin Engineering University, Harbin 15000E-mail:Abstract: A remote control system of the 5 degree of freedom manipulator was designed. This manipulator was installed into ourmobile robot to constitute a remote rescue robot. The Denavit-Hartenberg method was used to establish the kinematic models and the path planning of the manipulator was researched. The operator could remote control the manipulator by the interactive interface of PCwhich could display moving picture and various data of the manipulator. The servos of the manipulator were controlled by the slave FPGA controller. In addition, the slave FPGA controller communicated withthe PC via the wireless communication module. Owing to the embedded Nios II program and IP (Intellectual Property) core generating PWM waves in FPGA, the system could control the multiple servos fast and flexible. In order to achieve real-time operation and simulation, the interactive interface was established by the mixed programming of VC and MATLAB.Key Words: The manipulator; Remote control; Denavit-Hartenberg; FPGA; Human-computer interaction1 IntroductionWith the development of the microelectronic technique and the computer technology, the manipulator has become essential equipment in the manufacturing industry. As we all known, the manipulator isusually applied to accomplish dull, onerous and repeated physical work, especially used to substitute the manual operation under the dangerous and the hazardous environment such as the corrosion and the high temperature.In this paper, the manipulator was installed our mobile robot. The tele-operation system of this manipulator was designed. The whole system is onstituted by PC and slave FPGA. The operator can remote control the manipulator by PC. The wireless communication was used for transmitting data between PC and FPGA. FPGA is controller of the the manipulator in the mobile robot. FPGA has the abundant internal resource and IP cores. And a central control option was built via an embedded Nios II program and an IP core in FPGA. Furthermore, Verilog language was adopted to design the IP core which generated digital PWM waves for controlling the manipulator. Therefore, this system could reach higher precision and easy to debug.MATLAB software was adopted to build the kinematic models of manipulator. And using D-H (the acronym of Denavit-Hartenberg) method to solve the forward and inverse kinematic equations of the manipulator, to analyze the motivation, to plan and track themotion’s path.In addition, a good interface of human-computer interaction was enhanced in the remote control system of the manipulator in PC. Moreover, the manipulator simulation technology was built by using the mixed programming of VC and MATLAB. Thus, the motion choreographs was got quickly and easily, also greatly saved time and cut the cost.2 Manipulator Model and Path PlanningAt first, the motion model of the manipulator was built. Then, the kinematic simulation and its path planning were researched. These works provided the foundation for the design of the remote control system of the manipulator.Motion Model of the ManipulatorThe manipulator was regarded as an open loop kinematic chain. It was constituted by five rotary joints. And its one end was fixed on a base while the other end was used to achieve the ability of grabbing. Therefore, it is better to establish a chain coordinate frame as shown in . The terminal position and attitude was determined via usingforward kinematic equation after knowing the rotating angle of every joint. The D-H parameter table shown as Table 1 was established by using the frames in .Coordinate frames of mechanical armTable 1 D-H Parameters of the Robot ArmDue to D-H method:T =T T +1T +1T =(TT T +1−TT T +1TT T +1TT T TT T +1TT T 0T T −TT T −TT T T T +1TT T +1TT T TT T +1TT T 00TT T TT T T T +101)Where C T T +1=cos T T +1 , S T T +1=sin T T +1 , C T T =cos T T , S T T =sin T T . The transformation matrix of every joint was given byequation (2).T 10=(cos T 1sin T 1sin T 1cos T 1000000001001) T 21=(cos T 2−sin T 200001T 1−sin T 2−cos T 2000001) T 32=(cos T 3−sin T 3sin T 3cos T 3000000001T 201) T 43=(cos T 4−sin T 40000−1−T 3sin T 4cos T 4000001) T 54=(cos T 5−sin T 5sin T 5cos T 5000000001T 401) T 50=(T T T T T T T T T T T T T T T T T T T T 00T T T T 01)=T 10T 2∗1T 3∗2T 4∗3T 5∗4 (2)Where unit vector T →,T →,T → in equation (2) was T→=TTTTTT , T →=TTTTTTTTTTT , T →=TTTTTTTT , T→=TTTTTTTT . Parameters of mechanical arm were given by T 1=85mm , T 2=116mm , T 3=85mm , T 4=95mm . Therefore the forward kinematicequation was determined by taking every parameter in equation (3).T 50=(180TT 1T (T 2+T 3)+116TT 1TT 2180TT 1T (T 2+T 3)+116TT 1TT 285+116TT 2+180T (T 2+T 3)) (3)In practical application, the manipulator was adopted to grabobjects. This required that the fixed position was given from terminalto target location. That was the inverse kinematic analysis ofmanipulator. Inverse transformation was used to determine angle of every rotary joint toward the established coordinates. And the used method of inverse transformation was the common method to solve such problem (this method also known as algebraic method).Using inversetransformation T T T −1−1separately to the left multiplication withT =50T 10T 2∗1T 3∗2T 4∗3T 5∗4 , the angle of every rotary joint （T 1 T 2 T 3 T 4 T 5）was determined. Owing to these results, the rotary angles （T 1T 2T 3）at terminal position of manipulator were totally decided by the target position [T T T T T T ]. Angle T 4 was used to change terminal attitude of the manipulator and it was changed by the known normal vector. However, angle T 5, was decided by the size of target object.Motion Simulation of the ManipulatorThe manipulator model was built and simulated via MATLAB toolbox. We could verify the rationality of the mathematical model. While the MATLAB model was established by table 1 and shown asMATLAB simulation of the manipulatorComparing to the and , the simulation model of the manipulator was coincided to the reference frame model. That was to say, the given coordinate frame was correct. These results also could be proved by the determined inverse kinematic equations via MATLAB shown in the table (2) and table (3).The target position was solved by forward kinematics. After that, the rotary angles were calculated by inverse kinematical equation. It turned out that these rotary angles coincided to the given angles. Therefore, these results verified the correctness of forward and inverse kinematical equation.Table (2) Forward Kinematics AnalyzeTable (3) Inverse Kinematics Analyze3 Path Planning of the ManipulatorThe total displacement of joint was calculated by inversekinematical equation when the manipulator moved to new position. Thus, the manipulator could move to new position. Although the manipulator finally moved to the expected position in such condition, the motion of the manipulator between these two points was unknown. Due to space limitations, motion and some certain position requirements, the manipulator was often unable to move as the above mentioned method. Therefore, the motion path was designed to coincide with the limited conditions.In this paper, we could use these certain limitations to decide some expected points. And these expected points were used to match the planning path of the manipulator’s movement. Owing to the planning path, coordinate in every part could be calculated. The rotary angleof every joint was calculated via inverse kinetical equation and these angles realized the movement of planning path. Movement of the manipulator was shown in (Where‘’ represented the points would be p assed by the manipulator;‘*’represented the expected points of every segment; ‘-’represented path planning of the manipulator). In , we could seethat the motion of the manipulator passed every planning point and the movement path coincided to the planning path.The path planning simulation of the manipulator4 Remote Control System of the Manipulato rThe remote control system of the manipulator contains the main PC and the slave FPGA controller using DE2 Board of ALTER Company. The motors of the manipulator were controlled by multipath PWM waves. And the PWM waves were generated by IP core. The FPGA controller Communicated with PC via wireless serial port. While in the PC interaction, the operator could observe the move of the manipulator in real-time and tele-control the motion of the manipulator. Also every movement of manipulator could be observed in advance via thesimulation technique. The general design of the manipulator remote control system was shown in .The block diagram of the remote control systemControl Mode of the ManipulatorThere were two control modes of the manipulator. One mode is thatthe inverse kinematical equations are calculated by FPGA straightly to determine angle of every rotary joint. Thus, the control of the manipulator was achieved. The advantage of this mode is more direct and independent to finish the control of the manipulator without the external devices. At the same time, this mode has large quantities of calculations, which occupy more internal storage and running time of FPGA. Resources of FPGA are wasted under this mode.The other mode accomplished the control of the manipulator by using VC and MATLAB in PC. Using VC and MATLAB finished a large number of complex calculations and determined angle of every rotary joint. And the angle results were transmitted to FPGA in order to accomplish the control of the manipulator. This manner saved lots of internal storage and running time. In addition, FPGA could finish other works underthis mode. But the manipulator was not under fast control in this mode.In this system, a new mode was adopted in the manipulator remote control system depending on the advantages of the two modes. Specifically, when the manipulator accomplished the specified and repeated movement the former mode was adopted under direct control by FPGA. When the manipulator wanted to achieve new motions the latter mode was used to be commanded by orders from PC. This new mode was made good use of advantages of the two modes in the above. And this new mode lightened computational burden and improved workingefficiency of the manipulator.SOPC Design for the Remote Control SystemMovement of the manipulator was controlled by servos. And the servos were controlled by PWM waves with the cycle of 20ms. Pulse width of these PWM waves was ~ corresponding to the rotary angle of servo with-90 degree to 90 degree. High precision of PWM waves were generated by IP core via Verilog in this system. The results were shown in . PWM waves controlled rotary angles of the servos via the servo drivers.The PWM IP coreMultiple of IP cores were able to be downloaded into FPGA. Andmultiple PWM waves with high precision were generated in the output. As shown in , the pulse width of these waves could be settled byprogram of Nios II. The movement of the manipulator was more flexible and in higher precision in this system.The IP cores generating PWM waveThe movement of the manipulator was accomplished by the duty ratio of PWM waves. Formula (4) inverted rotary angle T T to thecorresponding amount of the duty ratio of PWM waves. The duty ratio of PWM waves corresponded to the Nios II output.TTT T =1000000−(T T ∗50000+75000) （4） Wireless serial of 9600 baud rate was used to transmit thecoordinate and the angle information from host computer to FPGA. After that, the data and orders were analyzed by FPGA Then FPGA transmitted the movement results to interactive interface of host computer via wireless transition model. This communication was realized through adding UVRT communication protocol to FPGA.The Interactive Interface of the Remote Control SystemThe interactive interface of the remote control system was shown in . There were some functions in the interactive interface: videoobservation, the manipulator control and the simulation modeling. At first, the manipulator video could be seen from camera tointeractive interface. The operator could monitor the manipulator in real-time.Secondly, the angle and the coordinate could be set in control zone of the interactive interface. The angle of the manipulator could beset independently to each single joint. In addition, the angle settingcould be shown in real-time in the list of interactive interface (as shown in . In the set of coordinates, judging of coordinate setting assured that the total coordinates could achieve to the target points. Thus the manipulator could be controlled to move in the settled path depend on the angle information.Lastly, the MATLAB robot toolbox was embedded into this interactive interface. One interface was integrated both the control andsimulation of the manipulator. MATLAB robot toolbox was directly used by interactive interface in the manipulator modeling. Each group of information was simulated separately in order to detect whether each movement was correct. And the general simulation could test whether movement arrangement of the manipulator was reasonable. Combining with multiple simulation methods made the movement arrangement more flexible, the operation of the manipulator simpler and interface interaction more perfect.The interactive interface of the manipulator5 Experiment and SimulationIn order to verify properties of the remote control system of the manipulator, experiments of the system were under way and were comparing to the simulation system. To be specific, manipulator modeling was built by interactive interface and a group of coordinates could be designed. we could see that the manipulator modeling and control of the interactive interface design comforted to the design requirement. The comparing between experiment and simulation was shown in .The experiment and the simulation6 ConclusionIn the experiment, the 5-DOF manipulator modeling was simulated by MATLAB. In the slave FPGA board, control of the manipulator was accomplished via IP core based on the Verilog language. That greatly reduced design of the peripheral circuit, cut the cost, improved the precision and made the movement smoother without shaking. While in theinteractive interface, the mixed programming method of VC and MATLAB was embedded into the MATLAB simulation function. Thus the operability of this manipulator was enhanced. The system had a good ability of interactive interface. The whole system was verified and achieved to the expected effect. One new thing in this system was that embedded the MATLAB robot toolbox in the interactive interface. The D-H modeling, path planning and tele-operation and so on were accomplished by using this interactive interface directly. Compared to the other development tools, this interactive interface had portability, good compatibility, short development cycle and simple operation. References[1] Saeed B. Niku write, Sun Fuchun, Zhu Jihong, Liu Guodongetc translate: Robotics Introduction, Beijing, ElectronicIndustry Press, 2004(1):60-63,132-137.[2] Brady, , , , and, editors, Robot Motion; Planning and Control,MIT Press, Cambridge, Mass, 1982.[3] Paul Richard P., Robot Manipulators, Mathematics,Programming, and Control, The MIT Press 1981.[4] Li Jian, Design and Research of Multi-DOF Robot, Masterdegree theses of master of university of technology, Chineseacaedemy of sciences, 2009?20-31.[5] Cheng Liyan, Fei Ling, Su Zelang, The 5-DOF ManipulatorKinematics Simulation Analysis Based on MATLAB,Mechanical Research & Application, 2011(06).[6] Zhang Puxing Jia Qiuling, Mechanical Arm Multi-channelServo Control Design based on FPGA, Small and specialelectrical machine. 2011, 39(4)第33届中国控制会议论文集中国，南京，2014年28-30日机械手的远程控制系统孙华、张媛、薛晶晶、吴宗凯哈尔滨工程大学，哈尔滨15000学院，自动化专业电子油箱：摘要：一种5自由度机械手的远程控制系统的设计。
机械手英文文献机器翻译
机械手英文文献机器翻译机械手英文文机器译献翻译译外文文献译藏<<?This is a application of Application Ser. No. 10/799,595, filed on Mar. 15, 2004 now U.S. Pat. No. 7,081,700. FIELD OF THE INVENTION The present invention relates to a manipulator such as a minute component assembly apparatus which assembles a minute object such as a micromachine component or unit by using a magnifying observation device such as an optical microscope, electron microscope, or scanning tunneling microscope, or a compact manipulator apparatus which performs diagnosis, medical treatment, research, biological production, or the like by physically manipulating, for example, minute tissues, cells, or genes of a living body and a minute object manipulating apparatus using the manipulator. BACKGROUND OF THE INVENTION There have been known a technique of controlling the posture of a manipulating member (end-effector) by rotating a general size arm using a general size bearing and a technique of performing a necessary process on a minute work in a working device by rotating an arm or tool along an arcuated guide (see, for example, Japanese Patent Laid-Open No. 7-256575). In a conventional apparatus like those described above, if the distal end of an end-effector is not located on the rotation axis of a bearing or arcuated guide, the distal end of the end-effector moves out of the visual field or depth of focus of a microscope due to posture control operation. Thismakes it necessary to position the microscope and the distal end of the end-effector again. As described above, in a manipulator which manipulates a minute object, when the posture of the end-effector at the distal end is controlled, the manipulation target object often moves out of the visual field of the microscope. In a conventional manipulator having three degrees of rotational freedom, in particular, since the rotation axes corresponding to the respective degrees of freedom do not coincide with each other and do not cross at one point, the distal endof the end-effector tends to move out of the visual field or depth of focus of the microscope due to posture control operation. In such a case, the microscope and the distal end of the end-effector must be positioned again. This operation requires a long period of time. SUMMARY OF THE INVENTION It is an object of the present invention to provide a manipulator such as a compact manipulator apparatus which solves the above problems and manipulates a minute target object, and a minute object manipulating apparatus or the like using the manipulator. Inorder to achieve the above object, according to the present invention, there is provided a manipulator comprising: a manipulation target object manipulating member being driven and controlled by a plurality of free rotation axes; all the plurality of free rotation axes crossing at one point; and, a manipulation distal end portion of the manipulating member being placed near the intersection. According to this arrangement, the manipulator has a mechanism in which a plurality of (typically three) free rotation axes cross at one point, and the distal end portion of amanipulating member (end-effector) which manipulates a manipulation target object is placed near the intersection. With this structure, even if, for example, the posture of the end-effector is changed, its distal end portion can be made to remain within the visual field of a microscope. The following embodiment can be provided on the basis of the above basic arrangement. According to an embodiment of the present invention, the manipulating member is integrally mounted on a spherical shell movable member, the manipulation distal end portion of the manipulating member is placed near the center of the spherical shell movablemember, the spherical shell movable member is in contact with a vibration member which can vibrate, and rotation of the spherical shell movable member around the center thereof is controlled by controlling vibration of the vibration member, thereby controlling a posture of the manipulating member. When the rotation of the movable member in the form of a spherical shell is controlled by controlling the vibration of the vibration member, the distal end portion of the end-effector is made to remain within the visual field of the microscope even if the posture of the end-effector is changed. According to another embodiment of the present invention, the manipulator further comprises: first rotating means for rotating a first rotating shaft on which a first arm is mounted; second rotating means for rotating a second rotating shaft which is mounted on the first arm and on which a second arm is mounted; and third rotating means for rotating a third rotating shaft which ismounted on the second arm and on which a third arm is mounted, wherein the manipulating member is mounted on the third rotating shaft, and the first, second, and third rotating shafts pass through a manipulation distal end portion of the manipulating member. In addition, in order to achieve the above object, according to the present invention, there is provided a minute object manipulating apparatus comprising: a manipulator comprising a manipulation target object manipulating member being driven and controlled by a plurality of free rotation axes, all the plurality of free rotation axes crossing at one point, and a manipulation distal end portion of the manipulating member being placed near the intersection; a magnifying observation device for magnifying observation of the manipulation target object and the manipulationdistal end portion of the manipulating member; and a remote controller for remotely controlling the manipulator. This apparatus also makes the most of the advantages of the above manipulator. In addition, for example, the manipulator can be placed on the upper side of a manipulation target object, and the magnifying observation device can be placed on the lower side of the manipulation target object. Other features and advantages of the present invention will be apparent from the following description taken in conjunction with the accompanying drawings, in which like reference characters designate the same or similar parts throughout the figures thereof. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the presentinvention will now be described in detail in accordance with the accompanying drawings. First Embodiment The first embodiment of the present invention will be described first with reference to FIGS. 1 and 2A to 2D. This embodiment uses a mechanism in which all the axes corresponding to three degrees of rotational freedom cross at one point. In this system, the center of the distal end manipulating portion of an end-effector is placed near the center of the spherical rotating member of a vibration actuator having three degrees of freedom like the one disclosed in Japanese Patent Laid-Open No. 11-220891. In such avibration actuator, rotation axes can be arbitrarily set. Since all the rotation axes pass through the center of a spherical rotating member, a simple system with high rigidity can be formed by using this actuator. As a sensor for feeding back the position and velocity of the spherical rotating member, a two-dimensional position sensor using a detection principle like that disclosed in Japanese Patent Laid-Open No. 10-65882 is suitably used. This sensor irradiates a spherical surface with light emitted from an irradiation source based on the optical mouse system or the like to form an irradiation pattern constituted by a high-luminance region and a relatively low-luminance region corresponding to the minute shape of the spherical surface. Movement information is then obtained by using the movement of the irradiation pattern based on the relative movement between the spherical surface and the sensor. FIG. 1 is a view which is most indicative of the main part of this embodiment. Reference numerals 20-1, 20-2, and20-3 denote the first, second, and third elastic member vibration elements of a multiple degree-of-freedom vibration actuator, respectively; and 1-1 and 1-2, piezoelectric ceramics which generate bending vibrations and longitudinal vibrations, respectively. Each vibration element 20 is fixed/supported on a frame (not shown) with an arm portion (see 1#x2013;2#x2032; in FIG. 6) extending from an electrode plate portion for a piezoelectric ceramic in the radial direction. The driving principle and arrangement of the multiple degree-of-freedom vibration actuator will be described in detail later. Reference numeral 2 denotes a movable member in the form of a spherical shell whose spherical surface comes into contact with the vibration element 20-1. In this embodiment, only a portion of the movable member 2 is a spherical surface, which comes into contact with the vibration element 20-1. The mechanism of driving control will be described later. Reference numeral 3 denotes a micro-hand which is integrally mounted on the mount portion of the lower portion of the movable member 2 in the form of a spherical shell. The micro-hand 3 has manipulation functions such as a function of grasping or releasing a minute object such as a cell and a function of performing a process such as forming a hole in a minute object orcutting it. The micro-hand 3 is placed near the center of the spherical surface of the movable member 2. Reference numeral 4 denotes a vessel in which a minute object such as a cell is stored. The vessel 4 is made of a transparent material such as glass. A liquid such as physiological saline solution is often contained in the vessel 4. Reference numeral 5denotes an X-Y or X-Y-Z stage which can adjust the relative position between the micro-hand 3 and a minute object as a manipulation target object by adjusting the position of the vessel 4 on the stage; and 6, a magnifying observation device such as a microscope, which magnifies images of the manipulation target object and micro-hand 3 to allow observation of them. Referring to FIG. 1, the magnifying observation device 6 allows observation from below the transparent vessel 4 through the hole in the center of the X-Y-Z stage 5. Reference numeral 7 denotes a magnet which attracts and holds the movable member 2 made of iron, and also has a function of bringing the spherical surface of the movable member 2 into contact with the vibration element 20-1 with a constant pressure. The details of the multiple degree-of-freedom vibration actuator will be described. FIGS. 2A to 2D show the driving principle of this vibration actuator. A piezoelectric element 33 serving as anelectro-mechanical energy converting element which provides the displacements shown in FIGS. 2B to 2D is clamped/fixed betweencylindrical elastic members 31 each serving as a single vibration member. The piezoelectric element is formed by stacking a plurality of single piezoelectric element plates with electrode plates being inserted between the piezoelectric element plates as needed. This allows an alternating signal for driving to be applied to each necessary piezoelectric element plate. In this case, the piezoelectric element 33 repeats expansion and contraction displacements in the axial direction upon application of alternating signals, and includes the firstpiezoelectric element which excites longitudinal vibration as a displacement in the direction of the z-axis of the three axes, i.e., the x-axis, y-axis, and z-axis, as shown in FIG. 2B, the secondpiezoelectric element which excites transverse (bending) vibrationwithin the z-x plane as shown in FIG. 2C, and the third piezoelectric element which excites transverse (bending) vibration within the z-y plane as shown in FIG. 2D. The above first piezoelectric element is uniformly polarized in the thickness direction. Each of the second and third piezoelectric elements is polarized such that the portions on both sides of the diameter have opposite polarities in the thickness direction. When, for example, alternating signals having a phase difference of 90#xb0; are applied to the second and third piezoelectric elements, two bending vibrations in the vibration member combine to form anelliptic motion around the z-axis (within the x-y plane) on the surface of the vibration member. In this case, since the natural frequency of the vibration member with respect to the x-axis is almost equal to that with respect to the y-axis, the above elliptic vibration can be generated by applying alternating signals having this natural frequency as a driving frequency to the second and third piezoelectric elements. When an alternating signal having a frequency almost equal to the natural frequency in the z-axis direction of the vibration member is applied to the first piezoelectric element, the vibration member repeats longitudinal vibration of the primary mode at a predetermined period. Inthis case, when an alternating signal is applied to the second piezoelectric element to excite vibration of one period matching (almost matching) with one period of longitudinal vibration in the vibration member, an elliptic motion is produced within the x-z plane at a point on the surface of the vibration member, thereby obtaining a driving force in the x-axis direction (around the y-axis). In this case, since the natural frequency of the vibration member in the z-axis direction differs from the natural frequency of the primary mode of bending vibration in the x-z plane, the second piezoelectric element is drivenin the secondary mode of the natural frequency of bending vibration in the x-axis direction, thereby matching the period of longitudinal vibration with the period of bending vibration, as shown in FIG. 2C. Likewise, when an alternating signal is applied to the third piezoelectric element to excite vibration of one period matching (almost matching) with one period of longitudinal vibration in the vibration member, an elliptic motion is produced within the y-z plane at a point on the surface of the vibration member, thereby obtaining a driving force in the y-axis direction (around the x-axis). In this case, since the natural frequency of the vibration member in the z-axis direction differs from the natural frequency of bending vibration within the y-z plane, the third piezoelectric element is driven in the secondary mode of the natural frequency of bending vibration in the y-axis direction, thereby matching the period of longitudinal vibration with the period of bending vibration, as shown in FIG. 2D. That is, when an alternatingsignal having a frequency similar to the natural frequency of avibration member 1, e.g., an AC voltage, is applied to the first, second, and third piezoelectric elements, longitudinal vibration or transverse (bending) vibration having a natural frequency is excited in thevibration member as shown in FIGS. 2B to 2D. When an alternating signalis selectively applied to two of the first, second, and third piezoelectric elements, the longitudinal vibration of the vibration member 1 is combined with transverse (bending) vibration in a direction perpendicular to that of the longitudinal vibration to produce anelliptic motion at a point on the surface of the vibration member 1. For example, the vibrations shown in FIGS. 2B and 2C are combined with each other to produce an elliptic motion within the x-z plane. When the vibrations shown in FIGS. 2B and 2D are combined with each other, an elliptic motion within the y-z plane is produced. When the vibrations shown in FIGS. 2C and 2D are combined with each other, an ellipticmotion within the x-y plane is produced. When, therefore, a movable member (the movable member 2 in FIG. 1) is pressed against a portion of the vibration member, the movable member can be driven in a plurality of directions. In this case, elliptic motions around the three axes (within three orthogonal planes) can be produced by combining three-phase piezoelectric elements (first, second, and third piezoelectric elements). This makes it possible to realize a vibration actuator which can be driven within three orthogonal planes by using a single vibration member. FIG. 1 shows the basic arrangement of a vibration member in thevibration actuator of this embodiment shown in FIG. 1. In this case, the vibration member includes the first elastic member vibration element 20-1 having a female threaded portion formed in the inner diameterportion and the second and third elastic member vibration elements20-2 and 20-3 each having a hole formed in a central portion. The piezoelectric elements 1-2 and 1-1 are placed between the first elastic member vibration element 20-1 and the second elastic member vibration element 20-2 and between the second elastic member vibration element 20-2 and the third elastic member vibration element 20-3. A fastening bolt 22 which is inserted from the third elastic member vibration element 20-3 side and serves as a central shaft member is screwed in the female threaded portion of the first elastic member vibration element 20-1. With this structure, the piezoelectric elements 1-2 and 1-1 are clamped between the first elastic member vibration element 20-1 and the second elastic member vibration element 20-2 and between the second elastic member vibration element 20-2 and the third elastic member vibration element 20-3 so as to be integrally coupled to each other. In this embodiment, the piezoelectric element 1-2 placed between the first elastic member vibration element 20-1 and the second elastic member vibration element 20-2 is the first piezoelectric element which excites, for example, longitudinal vibration in the vibration member. The piezoelectric element 1-1 placed between the second elastic member vibration element 20-2 and the third elastic member vibration element20-3 includes the second piezoelectric element which produces bendingvibration within the x-z plane and the third piezoelectric element which produces bending vibration within the y-z plane. The second and third piezoelectric elements are so positioned as to have a phase difference of 90#xb0;. The inner surface of the distal end portion of the first elastic member vibration element 20-1, which comes into contact with the movable member 2 in the form of a spherical shell and is oblique with respect to the axis, is formed into a tapered surface. In this embodiment, therefore, the movable member 2 in the form of a spherical shell can be rotated about the x-axis, y-axis, and z-axis by combining two kinds of vibrations of longitudinal vibration and vibrations in the two directions which are produced in the vibration member. For example, a combination of the vibrations shown in FIGS. 2B and 2D can rotate the movable member 2 about the z-axis, a combination of the vibrations shown in FIGS. 2B and 2C can rotate the movable member 2 about the y-axis, and a combination of the vibrations shown in FIGS. 2B and 2D can rotate the movable member 2 about the x-axis. That is, the movable member 2 can rotate about three orthogonal axes. By controlling the vibrations of the vibration elements 20, the movable member 2 can be rotated/controlled about an arbitrary axis. In this case, since the micro-hand 3 is located at the center of the spherical surface of the movable member 2, only the posture of the micro-hand 3 always changes at the same position. Even if posture control operation is done, since the position of the micro-hand 3 does not change, the manipulation target object never moves out of the visual field of the microscope 6. The above description has exemplifiedcontrol on the posture of the micro-hand 3. When, however, the posture of a manipulation target object such as a cell is to controlled, it suffices if the posture of the micro-hand 3 is changed after the manipulation target object is grasped by the micro-hand 3, and then the manipulation target object is released. In this case as well, since the position of the manipulation target object does not change, it never moves out of the visual field of the microscope 6. In the apparatus of this embodiment, the relative position of a manipulation target object can be adjusted by the X-Y-Z stage 5, and the posture and direction of the object can be adjusted by controlling the vibrations of thevibration elements 20-1 to 20-3. Although FIG. 1 shows the rod-like vibration elements, vibration elements like those shown in FIGS. 3A to3D or FIGS. 4A to 4D may be used. According to the form of the vibration actuator shown in FIGS. 3A to 3D, a single vibration member 200 is formed by joining a cylindrical elastic member 201 to a disk-likeelastic member202. The elastic member 201 is actually divided into two portions, and piezoelectric elements 203 and 204 serving as two electro-mechanical energy converting elements are clamped between the two portions. Piezoelectric elements 205a to 205d serving as four electro-mechanical energy converting elements are arranged on the surface of the disk-like elastic member 202. The piezoelectric element 203 is used to displace the elastic member 201 serving as a driving portion in the x-axis direction, as shown in FIG. 3C. The piezoelectric element 204 is used todisplace the elastic member 201 in the y-axis direction. As shown in FIG. 3B, the piezoelectric elements 203 and 204 have a polarization phase difference of 90#xb0;. On the other hand, all the piezoelectric elements 205a to 205d are polarized to have the same characteristics. When the disk-like elastic member 202 is bent as shown in FIG. 3D, the elastic member 201 serving as a driving portion is displaced in the z-axis direction. A spherical movable member 206 (the movable member 2 in FIG. 1) is in contact with the elastic member 201 serving as a driving portion. The movable member 206 can be rotated about the x-axis by supplying alternating signals to the piezoelectric element 204 and the piezoelectric elements 205a to 205d with, for example, a phasedifference of 90#xb0;. By supplying alternating signals to the piezoelectric element 203 and the piezoelectric elements 205a to 205d with, for example, a phase difference of 90#xb0;, the movable member 206 can be rotated about the y-axis. When the movable member 206 is to be rotated about z-axis, alternating signals are supplied to the piezoelectric elements 203 and 204 with, for example, a phase difference of 90#xb0; According to the form of the vibration actuator shown in FIGS. 4A to 4D, a single vibration member 300 is formed by joining acylindrical elastic member 301 to a disk-like elastic member 302. The elastic member 301 incorporates a permanent magnet (not shown) to always attract a movable member 306 (the movable member 2 in FIG. 1) made of a magnetic material so as to obtain a pressing force. Four piezoelectric elements (polarized regions) 303a to 303d serving as electro-mechanicalenergy converting elements are arranged on the surface of the elastic member 302. By selectively supplying alternating signals to the piezoelectric elements 303a to 303d, the elastic member 301 serving as a driving portion can be displayed in the x-axis direction, y-axis direction, or z-axis direction, as shown in FIGS. 4B to 4D. When the movable member 306 is to be rotated about the x-axis, a displacement in the y-axis direction (FIG. 4C) and a displacement in the z-axisdirection (FIG. 4D), may be provided with, for example, a phase difference of 90#xb0;. When the movable member 306 is to be rotated about the y-axis, a displacement in the x-axis direction (FIG. 4B) and a displacement in the z-axis direction (FIG. 4D) may be provided with, for example, a phase difference of 90#xb0;. When the movable member 306 is to be rotated about the z-axis, a displacement in the x-axis direction (FIG. 4B) and a displacement in the y-axis direction (FIG. 4C) may be provided with, for example, a phase difference of 90#xb0;. Alternating signals are supplied to the piezoelectric elements 303a to 303d in the same manner as in the form shown in FIGS. 3A to 3D. Alternatively, a plate-like vibration member like the one disclosed in Japanese Patent Laid-Open No. 2002-272147 may be used. FIG. 5 shows this vibration member. In this case, contact projections PC1 to PC4 are integrally formed at almost the middle portions of the four sides of a plate-like vibration member 402. A projection PG having a magnet 405 for attracting a movable member (the movable member 2 in FIG. 1) is formed at a central portion of the vibration member, and projections PE1 to PE4 are formedat the four corners of the vibration member. A vibration element 401 is formed by bonding/fixing a piezoelectric element 403 to the vibration member 302. The piezoelectric element 403 is driven to excite three different natural vibration modes in the vibration element 401. Combining thesemodes makes it possible to realize multiple degree-of-freedomdriving, e.g., rotation about three orthogonal axes and rotation in two directions and about one axis. Referring to FIG. 1, the micro-hand 3 serving as an end-effector is placed in the center of the spherical movable member 2. However, the present invention is not limited to this. For example, the micro-hand 3 may be replaced with a micro-tool which cuts a manipulation target object or forms a hole in the object. Second Embodiment FIG. 6 is a view for explaining the second embodiment of the present invention. Since reference numerals 1 to 5, 7, 20, and 22 in FIG.1 denote the same parts as in FIG. 6, a description thereof will be omitted. Reference numerals 6-1 and 6-2 denote microscopes formagnifying observation. In this embodiment, more visual information is acquired by using two microscopes placed at upper and lower positions, thereby improving operability. The two microscopes may have the same magnification power. However, decreasing the magnification of the lower microscope 6-1 to allow observation with a wide visual field will allow both observation with a low magnification and a wide visual field and observation with a high magnification and a narrow visual field. Reference numerals 8-1 and 8-2 denote optical sensors, which detectrelative position changes of vibration elements 20 and movable member 2.A technique like that disclosed in Japanese Patent Laid-Open No. 10-65882 can be used. The sensors 8-1 and 8-2 are identical sensors. The rotation axis and rotational speed of the movable member 2 can be obtained from movement information at two positions on the spherical surface. The sensors 8-1 and 8-2 are not limited to this system as long as they are two-dimensional position sensors. Although an example of a non-contact optical system is shown in FIG. 6, for example, a ball mouse system maybe used, in which the rotation of balls in contact with the movable member 2 are separately detected as rotation components around two axes in two directions. The sensors 8-1 and 8-2 are mounted on a base 10 with a fixed frame 9. The vibration elements 20 are mounted on the fixed frame 9 with arm portions 1#x2013;2#x2032; radially extending from an electrode plate portion for a piezoelectric ceramic1#x2013;2#x2032;. Other points are the same as those in the first embodiment. FIG. 7 shows a modification in which the axis of themultiple degree-of-freedom vibration actuator is tilted. For example, the structure shown in FIG. 7 is effective for a case wherein two micro-hands 3 are used. The multiple degree-of-freedom vibration actuator may be located in any direction as long as the microscope 6 and stage 5 do not interfere with each other even if the spherical shell of the movable member 2 rotates in various directions. However, a wider movable range of the movable member 2 can be ensured by matching the optical axis of the microscope 6 with the axis of the multiple degree-of-freedomvibration actuator as shown in FIGS. 1 and 6. Third Embodiment FIG. 8 is a view for explaining the third embodiment. In this system, the rotating axes, each having one degree of freedom, are made to cross at one point, and the center of an end-effector is located near the intersection. Each axis is driven and controlled by a general rotary motor. However, an ultrasonic motor, electrostatic motor, or the like may be used. A system can be formed by using a general rotary encoder as a sensor which feeds back position information and velocity information. FIG. 8 shows only a mechanism which controls the posture of a micro-hand 3. Although an X-Y-Z stage 5 and microscope 6 are arranged in the same manner as in the above embodiments, an illustration thereof is omitted in FIG. 8. Reference numeral 11 denotes a general rotary motor, which incorporates a position sensor such as an encoder. The rotary motor 11 is fixed to a fixed frame 9 along the z-axis which is the optical axis of the microscope 6 (not shown). An arm 15 is mounted on a rotating shaft 14. A rotary motor 12 similar to the rotary motor 11 is mounted on the distal end of the arm 15. An axis Z of the rotary motor 11is perpendicular to an axis Y of the rotary motor 12. An arm 17 is also mounted on a rotating shaft 16 of the rotary motor 12. A similar rotary motor 13 is also mounted on the distal end of the arm 17. The axis Y of the rotary motor 12 is perpendicular to an axis X of therotary motor 13. The micro-hand 3 is mounted on the distal end of a rotating shaft 18 of the rotary motor 13. The rotating shafts of the rotary motors 11, 12, and 13 pass through the distal end portion of the。
机械手外文文献和文献翻译
This is a application of Application Ser。
No。
10/799，595, filed on Mar. 15，2004 nowoptical mouse system or the like to form an irradiation pattern constituted by a high—luminance region and a relatively low—luminance region corresponding to the minute shape of the spherical surface。
Movement information is then obtained by using the movement of the irradiation pattern based on the relative movement between the spherical surface and the sensor。
FIG. 1 is a view which is most indicative of the main part of this embodiment. Reference numerals 20-1，20—2, and 20—3 denote the first, second, and third elastic member vibration elements of a multiple degree—of—freedom vibration actuator, respectively；and 1-1 and 1—2，piezoelectric ceramics which generate bending vibrations and longitudinal vibrations, respectively。
机械手外文翻译
ManipulatorAlong with our country the rapid development of industrial production, rapidly improve degree of automation, implementation artifacts of handling, steering, transmission or toil for welding gun, spray gun, spanner and other tools for processing, assembly operations such as automation, should cause the attention of people more and more.Manipulator is to imitate the people part of the action, according to a given program, track and demanding acquirement, handling or operation of the automatic device. Applied in the industrial production of the manipulator is referred to as "industrial manipulator". Application manipulator can improve the automation of production water in production and labor productivity; Can reduce labor fatigue strength, to ensure product quality, implement safety production; Especially in high temperature and high pressure, low temperature, low pressure, dust, explosive, toxic and radioactive gases such as harsh environment, it instead of people normal work, the more significant. Therefore, in the machining, casting, welding, heat treatment, electroplating, spray painting, assembly, and light industry, transportation industry get more and more extensive application, etc.Manipulator institutional form is simple, strong professionalism, only as a loading device for a machine tools, special-purpose manipulator isattached to this machine. Along with the development of industrial technology, produced independently according to the process control to achieve repetitive operation, using range is wide "program control general manipulator", hereinafter referred to as general manipulator. General manipulator used to quickly change the working procedure, adaptability is stronger, so he is in constant transformation in the medium and small batch production of products are widely used.Manipulator is a kind of can automatic positioning control and can change to programming with multifunctional machine, it has more degrees of freedom, can be used to move things to complete the work in different environments. In China the low level of wages, plastic products industry still belongs to the labor-intensive, the use of the manipulator has become more popular. The electronic and automobile industry in Europe and the United States multinational companies very early in their factories in China introduced automatic production. But now the change is the industrial intensive distribution in south China, east China's coastal regions local plastic processing plant also began to manipulator show more and more interest, because they have to face high worker turnover rate, as as the challengewell s brought about by the workers pay inductrial injury fee.一、The composition of the manipulatorManipulator is in the form of a variety of, some relatively simple,some more complex, but the basic form is the same, generally by the actuators, transmission system, control system and the auxiliary device. 1.The actuator manipulator actuators, by the hand, wrist, arm, pillars. Hand is grasping mechanism, which is used to clamp and release artifacts, as a human finger, can complete staff of similar action. Is connected to the fingers and wrist arm components, can be up and down, left and right sides and rotary movement. Simple manipulator can not the wrist. Prop used to support the arm, can also according to need to make it move.2.The driving system movement of the actuator by the transmission system to achieve. Common mechanical transmission system of mechanical transmission, hydraulic transmission, pneumatic transmission and power transmission etc. Several forms.3.The control system of manipulator control system main function is to control the manipulator according to certain procedures, movement direction, position, speed, simple manipulator is generally not set special control system, only the stroke switch, relay, control valves and control circuit can realize dynamic transmission system, the executing agency action in accordance with requirements. Action complex manipulator should adopts the programmable controller, microcomputer control.二、classification and characteristics of the manipulatorRobots generally fall into three categories the first is generalmanipulator doesn't need manual operation. It is a kind of independence is not attached to a host device. It can according to the need of the task program, the operation of the provisions to complete. It is with the characteristics of common mechanical performance, also has general machinery, memory, intelligence of three yuan. The second is the need to do manually. Called Operating machine. It originated in the atom, military industry, first by Operating machine to complete a specific assignment, later to use radio signal Operating machine to explore the moon and so on. Used in the forging industry Operating machine falls under this category. The third kind is to use special manipulator, mainly attached to automatic machine or automatic line, used to solve machine tool material and workpiece to send up and down. This manipulator in a foreign country is called "the Mechanical Hand", it is in the service of the host, driven by the host; Except a few working procedures generally is fixed, so it is special.三、The application of industrial manipulatorManipulator is in the process of mechanization, automation production, developed a kind of new type of device. In recent years, with electronic technology, especially the wide application of electronic computer, the robot's development and production has become a high technology developed rapidly in the field of an emerging technology, it promoted the development of the manipulator, make the manipulator canachieve better with the combination of mechanization and automation.Manipulator although it is not as flexible as manpower, but it can have repeated work and labor, do not know fatigue, is not afraid of danger, snatch heavy weights strength characteristics such as larger than man, as a result, the manipulator has been brought to the attention of the many departments, and have been applied more and more widely.(1) Machine tools machining the workpiece loading and unloading, especially in automatic lathe, use common combination machine tools. (2) Widely used in the assembly operation, it can be used to assemble printed circuit board in the electronics industry, it can be in the machinery industry to assemble parts.(3) Can be in working conditions is poor, repetitive easy fatigue of the work environment, to instead of human Labour.(4) The development of the universe and the ocean.(5) Military engineering and biomedical research and test.Application of robots can replace people in dull, repetitive or heavy manual work, to realize mechanization and automation of production, instead of human in harmful environment of manual operation, improve labor condition, ensure the personal safety. In the late 1940 s, the United States in the nuclear experiments, firstly adopts manipulator handling radioactive materials, people in the security room to manipulatemanipulator for various operation and experiment. After the '50 s, robots gradually extended to industrial production department, for use in high temperature, serious pollution of local leave work pieces and the loading and unloading materials, as auxiliary device in the machine tool automatic machine, automatic production line and processing center in the application, complete the material up and down or from libraries take put the knives and replace tool operations such as fixed procedure. Manipulator is mainly composed of hand and motion mechanism. Hand mechanism varies according to the usage situation and operation object, the common are holding, hold and the adsorption type etc. Motion mechanism usually driven by hydraulic, pneumatic, electric devices. Manipulator can be achieved independently of scaling, rotation and lifting movement, generally speaking, there are 2 ~ 3 degrees of freedom. Robots are widely used in machinery manufacturing, metallurgy, light industry and atomic energy etc.Manipulator is used in the production process automation with grab and move the workpiece is a kind of automatic device, it is in the process of mechanization, automation production, developed a new type of device. In recent years, with electronic technology, especially the wide application of electronic computer, the robot's development and production has become a high technology developed rapidly in the field of an emerging technology, it promoted the development of themanipulator, make the manipulator can achieve better with the combination of mechanization and automation. Robots can replace humans do dangerous, repeat the boring work, reduce human labor intensity and improve labor productivity. Manipulator have been applied more and more widely, it can be used for parts assembled in the machinery industry, processing the workpiece handling, loading and unloading, especially on the automatic CNC machine, combination machine tools more common use. At present, the manipulator has developed into a flexible manufacturing system of FMS and flexible manufacturing cell is an important component of FMC. The machine tool equipment and manipulator of a flexible manufacturing system or flexible manufacturing unit, it is suitable for medium and small batch production, can save a large workpiece delivery device, structure is compact, but also has a strong adaptability. When the workpiece changes, flexible production system is easy to change, is advantageous to the enterprise continuously updated marketable varieties, improve product quality, better adapt to the needs of the market competition. But at present our country's industrial robot technology and its engineering application level and foreign than there is a certain distance, scale and industrialization level is low, research and development of the manipulator has direct influence on raising the automation level of production in our country, from the consideration on the economic and technology is very necessary.Therefore, carries on the research design of the manipulator is very meaningful.四、The development trend of manipulatorCurrent industrial applications of the manipulator gradually expanding, constantly improve the technology performance. Due to the short development time, it has a gradual understanding of process, the manipulator and a technically perfect step by step process, its development trend is:1、To expand the application of manipulator and processing industryAt present domestic robots used in mechanical industry more in cold working operations, while in the hot work such as casting, forging, welding, heat treatment less, and the application of assembly work, etc. So processing work items heavy, complicated shape and high environmental temperature, bring many difficulties to manipulator design, manufacture, it is need to solve the technical difficulties, make the manipulator to better service for processing work. At the same time, in other industries and industrial sectors, also will with the constant improvement of the industrial technology level, and gradually expand the use of the manipulator2、Improve the work performance of the industry manipulatorManipulator in the working performance of the pros and cons,determines the application and production, it can normal manipulator working performance of the repetitive positioning accuracy and speed of work two indicators, decided to ensure the quality of manipulator can complete the operation of the key factors. Therefore to solve good working stability and rapidity of the manipulator's request, besides from solve buffer localization measures, should also be development meet the requirements of mechanical properties and low price of electro-hydraulic servo valve, servo control system was applied to the mechanical hand. 3、Development of modular robotsVariable application manipulator from the characteristics of the manipulator itself, more adapted to the product type, equipment updates, many varieties, small batch, but its cost is high, the special manipulator and cheap, but the scope is limited. Therefore, for some special purpose, you need special design, special processing, thus improving the product cost. In order to adapt to the request of the application field of classify, the structure of the manipulator can be designed to the form of combination. Modular manipulator is a common parts according to the requirement of the job, select necessary to accomplish the function of the unit components, based on the base of combination, deserve to go up with adaptive control part, namely the manipulator with special requirements can be completed. It can simplify the structure, take into account the specificity and design on the use of generality, more in the series designand organization of standardization, specialized production, to improve quality and reduce cost of the manipulator, is a kind of promising manipulator4、Has a "vision" and "touch" of so-called "intelligent robots"For artificial has flexible operation and the need for judgment of the situation, industrial manipulator is very difficult to replace human labor. Such as in the working process of the accident, disorders and conditions change, etc., manipulator cannot be automatically distinguish correct, but to stop, after waiting for people to rule out accident can continue to work. As a result, people puts forward higher requirements on mechanical hand, hope to make it a "vision", "touch", etc, make it to the judgment, the choice of object, can be continuously adjusted to adapt to changing conditions, and can perform a "hand - eye coordination. This requires a computer can handle a lot of information, require them to exchange of information with machine "dialogue".This "vision", "touch" feedback, controlled by computer, is one part of the "smart" mechanism is called "intelligent robots". Is the so-called "smart" includes: the function of recognition, learning, memory, analysis, judgment. And recognition is through the "visual", "touch" and "hearing" feel "organ" of cognitive object.Which has the function of sensory robot, its performance is perfect,can accurately clamping arbitrary azimuth objects, determine an object, weight, work over obstacles, the clamping force is measured automatically, and can automatically adjust, suitable for engaged in the operation of the complex, precision, such as assembly operation, it has a certain development prospects.Intelligent robots is an emerging technology, the study of it will involve the electronic technology, control theory, communication technology, television technology, spatial structure and bionic mechanical discipline. It is an emerging field of modern automatic control technology. With the development of science and intelligent robots will replace people to do more work.外文翻译机械手随着我国工业生产的飞跃发展，自动化程度的迅速提高，实现工件的装卸、转向、输送或是操持焊枪、喷枪、扳手等工具进行加工、装配等作业的自动化，应越来越引起人们的重视。
机械手外文文献翻译2
This is a application of Application Ser. No. 10/799,595, filed on Mar. 15, 2004 now U.S. Pat. No.这是一个应用程序的应用系列号10/799,595，2004 年 3 月15 日美国英保通™技术现在提交。
7,081,700 号。
领域的发明本发明涉及机械手等装配一个微小的对象，例如微型机械组件或单位使用放大镜观察设备如光镜、电镜，或扫描隧道显微镜的分钟部分装配装置或执行诊断、治疗、研究、生物生产、或类似的实际操作，紧凑的机械手装置，例如分钟组织、细胞或生命体和操纵仪器使用机械手分钟对象的基因。
发明背景技术控制的操纵成员轮流使用一般大小轴承和技术的微小的工作，工作装置上执行必要的过程，通过旋转臂一般大小臂或工具沿着拱式指南（例如，日本专利号7-256575)。
在像这些描述的常规仪器上，如果远端的末端不是位于轴承的旋转轴上或拱式指导，远端的出视野的末端移动或深度的姿势控制操作显微镜的重点。
这就需要再次确定显微镜和远端的末端的位置。
正如上文所述，操纵这操作一个微小的对象时的姿态在远端的末端控制，操作的目标对象往往移出显微镜的视野。
其中有三个旋转自由度的常规机械手，特别是因为对应于各自的自由度的旋转轴不配合对方做不相交于一点，远端的末端往往搬出视野或深度聚焦显微镜的应付姿势控制操作。
在这种情况下，在显微镜和远端的末端必须位于再次，此操作需要较长的时间。
本发明的概要它是目前发明提供紧凑的机械手装置解决了上述问题，并操纵微小的目标对象，如机械手的对象和一分钟对象操作器具或类似使用机械手。
为了达到上述目的，根据目前的发明，那里提供机械臂组成：操作的目标对象，操作的成员正在驱动和控制的多元化的自由旋转轴；在穿越的自由旋转轴的所有多元化和操纵远端部分的交集附近放操作的成员。
根据这项安排，机械手有多元化的（通常为三) 自由旋转轴相交于一点，和操纵成员（末端) 的操作手法的目标对象的远端部分位于附近的交叉的机制。
机械手英语文献翻译
1 英文文献翻译1.1 Cherry-harvesting robot1.1.1 IntroductionIn Japan, cherries are harvested carefully by human labor. As the harvesting season is short, the harvesting work is concentrated in a short time period and labor shortage tends to limit the farm acreage. Moreover, cherry trees are tall, and so the harvesting work must be conducted using pairs of steps. This makes harvesting dangerous and inefficient. To save on labor, a cherry-harvesting robot was manufactured for trial purposes and initial experiments were conducted. Research on fruit-harvesting robots has already been conducted (Kawamura etal., 1984; Harrell et al., 1990; Fujiura et al., 1990; Hanten et al.,2002). Many of the fruit-harvesting robots previously reported are equipped with a video camera. Fruit images are distinguished from the background by the difference in color or the spectral reflectance. The 3-D location of the fruit was calculated using binocular stereo-vision (Kawamura et al., 1985)or by visual feedback control (Kondo and Endo, 1989). Applications of a 3-D vision sensor have also been reported (Subrata etal., 1996; Gao et al., 1997). The 3-D vision sensor has the advantage that each pixel of the image has distance information.Making use of this advantage, the object can be recognized by the 3-D shape. As for the cherry-harvesting work, it is necessary to harvest the fruit while avoiding collisions with obstacles such as leaves and stems. To obtain a successful harvesting motion, detection of obstacles as well as the red ripe fruit is required. To achieve this, a 3-D vision system that has two laser diodes was manufactured. One of them emits a red beam and the other an infrared beam. To prevent the influence of the sunlight, position sensitive devices (PSDs) were used todetect the r eflected light. By blinking the laser beams at a high frequency, the signal components of the laser from PSDs were distinguished from that of the sunlight. The 3-D shape of the object was measured by scanning the laser beams and the red fruits were distinguished from other objects by the different cein the spectral-reflection characteristics between the red andinfrared laser beams. The robot needs to harvest correctly and efficiently without damaging the fruits and branches under the environment (temperature, sunshine, etc.) of the orchard. Many cherry trees are cultivated in rain-cover vinyl tents to protect against rain. A robot that works in the tent is not exposed to wind and rain. Cherry fruit, both for the fresh market and for processing, must be harvested with its peduncle.In the case of manual harvesting, therefore, farmers grip the upper part of the peduncle with their fingers, and lift it upward to detach it from the tree. For the same reason, the robot manufactured for the experiment also gripped the upper part of the peduncle just like farmers and lifted it upward to detach the peduncle from the tree.1.1.2 Materials and methodsThe robot consists of a manipulator 4 degrees of freedom (DOF), a 3-D vision sensor, an end effector, a computer, and a traveling device (Fig. 2). It is about 1.2m high, 2.3m wide, and 1.2m long. The 3-D vision sensor is attached to the manipulator to scan from different viewpoints by the motion of the manipulator. A vacuum is used to suck the fruit into the sucking pipe of the end effector.Cherry trees cultivated by the method of single trunk training distribute their fruits around the main trunk. In order to harvest a fruit while avoiding obstacles, such as leaves and trunks, the end effector needs to approach the fruit from the outside of the trunk. For this reason, in this study, we manufactured an articulated manipulator with an axis of up-down traverse and three axes of right-left turning, so that the fruits could be harvested in any direction (Fig. 2). The up-down traverse requires comparatively large force caused by the gravity. Therefore, it is driven by an AC servomotor (Yaskawa Electric, SGMAH-01BAA2C, rated power 100W, rated torque 0.318Nm, rated speed 3000min−1) and a screw mechanism (lead 10mm). Three axes of the right–left turning do not require large torque. Axes of the first and second right–left turning are driven by small AC servomotors (Yaskawa Electric, SGMAH-A5BAA21, rated power 50W, rated torque 0.159N m,rated speed 3000min−1) and harmonic reduction gears (reduction gear ratio100). The remaining axis of right–left turning is driven by a small DC motor with reduction gears. The manipulator is designed to be able to move round the circumference of the tree trunk so that notonly fruits on the front side of the trunk but also the fruits on the other side of the trunk could be harvested.Since the fruits are located around the tree trunk, if the vision sensor scans from one viewpoint, fruits beyond the trunk are hidden. To scan from different viewpoints, the 3-D vision sensor was attached to the second arm. The movement of the manipulator changed the location and directionof the 3-D vision sensor so that the dead angle becomes small.The 3-D vision sensor is equipped with a light projector, a photo detector, and a scanning device (Fig. 3). The light projector consists of an infrared laser module, a red laser module, cold mirrors, a half mirror, and two full-reflecting mirrors. The photo detector consists of two PSDs, a lens, and a red optical filter that weakens the influence of su nlight. The scanning device consists of a galvanometer scanner and a stepping motor. The galvanometer scanner scans vertically and the stepping motor scans horizontally. Red and infrared laser beams are united in the same optical axis by a cold mirror that transmits infrared light and reflects visible right. The beam is further split into two beams (each still including both wavelengths) by a half mirror. These two beams scan the object simultaneously. Light of the two beams reflected from the object is focused onto two PSDs. The distance from the 3-D vision sensor to the object is calculated by a triangulation method using the ratio of the currents of both electrodes of the PSDs. The laser beams emit blinking signals in order to eliminate the influence of sunl ight.By this method, reflected light is separated from the sunlight, thus resulting in continuous light. Infrared light with wavelengths about 700–1000 nm is reflected well by all parts of the cherry tree. On the other hand, red light at about 690 nm is n ot reflected well by unripe fruit, leaves, and stalks, but is reflected well by red ripe fruit. In this study, an infrared light beam of830 nm and a red light beam of 690 nm were used. The infrared laser beam (830 nm) measures the distance to each part of the cherry tree from the 3-D vision sensor and the red laser beam(690 nm) detects the red fruit to be harvested.As mentioned above, the laser beam is split into two beams. The 3-D vision sensor scans these two beams simultaneously, and two pixels were measured at once to increase the scanning speed. The number of pixels was 50,000 (250 in the vertical and 200 in the horizontal direction). The scan time was 1.5 s. The field of vision was 43.8◦ in vertical direction and 40.6◦ in horizontal direction. The effective range of the sensor was from170mmto 500mm. If the object was too far from the sensor, the detected light was weakened and the measuring accuracy was not good.The reflected light from these laser beams is detected by two PSDs, one for each beam. The signals from the PSDs include red and infrared components. To acquire the red and infrared signals separately, the red and infrared laser lights were emitted at a blinking frequency of 41.6 kHz with a phase shift of 90◦. Photoelectric currents from PSDs are amplified. Red and infrared signals are detected separately using lock-in amplifiers, which also eliminate the influence of ambient light. The 3-D vision sensor can be used even under sunlight, where the illuminance is 100 klx. A red image and an infraredimage are fed to the computer, and then a range image and segmentation are obtained.The range image is calculated by triangulation using the infrared signals from anode A and B of the PSD. Segmentation is obtained from the ratio between the infrared and red signals. Red fruits were distinguished from other objects such as leaves by the reflectivity of the red laser. However, the trunk as well as the fruits reflect a red laser beam. Therefore, it was distinguished from fruits using other methods. Fruits reflect with specula phenomenon. When they are scanned, the fruit center reflects the laser beam well. How- ever, this phenomenon does not occur at the trunk surface. The center of each fruitwas recognized using this specula phenomenon. When the center of a fruit is visible from the 3-D vision sensor, fruits could be recognized by this method. By processing these images, the location of red fruits and obstacles, such as leaves and trunks, could be recognized.Fig. 4 shows examples of the image. The range image was obtained by the method of triangulation using the infrared signals of the PSD. By processing the infrared, red, and the range images, the object was segmented into red fruits and others. The image in the right side shows the result of segmentation.Cherry fruit must be harvested with its peduncle attached. The tensile strength needed to detach the fruit was measured. The strength between the peduncle and the fruit was about 1N. On the other hand, the strength between the peduncle and the branch was about 2.5N. Therefore, if the fruit was pulled it would detach the peduncle and the fruit because the strength in that area isthe weakest. To harvest the fruit with its peduncle, a special end effector was used. It consisted of a fruit sucking device, an open-close mechanism, a back-and- forth mechanism, and a pair of fingers. It is about 80 mm high, 30 mm wide, and 145 mm long (Fig. 5). The vacuum pressure from the vacuum cleaner sucks the fruit so that the fruit position is fixed at the tip of the pipe. The fin ger can be opened or closed by the rotation of a servomotor attached on the end effector. After the fingers grasp the peduncle, the end effector is lifted up to remove the peduncle from the tree.Fig. 6 shows the motion of the end effector. First, the finger s are opened and retracted by the servomotors. Then, the end effector approaches a fruit and sucks it. After sucking the fruit, the fingers move halfway forward, and close halfway until the clearance between fingers becomes 5mm. In order to enclose only the target fruit, the fingers are equipped with soft rubber components for obstacle exclusion, so that other fruits may not enter between the fingers. It is necessary to grip the peduncle as near as possible to its root . Therefore, after the fingers are closed halfway, they move further forward. Then, they close completely and grasp the peduncle. Finally, the end effector moves upward to detach the peduncle. The end effector moves to the position above a fruit box, and the fingers open and release the fruit.……1.2 樱桃采摘机器人1.2.1 简介在日本，采摘樱桃是一项细致的人工劳动。
机械手外文翻译
机械手外文翻译机械手外文翻译The Design of Hand Column Type Power Machine工业机械手的设计Serope kalpak jian,Steven R.SchmidAbstract摘要Machine hand developed in recent decades as high-tech automated production equipment.机械手是近几十年发展起来的一种高科技自动化生产设备。
Industrial machine hand is an important branch of industrial machine hands. It features can be 工业机械手是工业机器人的一个重要分支。
它的特点是可通过变成来programmed tasks in a variety of expectations, in both structure and performance advantages of 完成各种预期的作业任务，在构造和性能上兼有人和机器their own people and machines, in particular, reflects the people’s intelligence and adaptability.各自的优点，尤其体现了人的智能和适应性。
The accuracy of machine hand operations and a variety of environments the ability to complete 机械手作业的准确性和在各种坏境中完成作业的能力，the work in the field of national economy and there are broad prospects for development. With the 在国民经济各领域有着广阔的发簪前景。
机械手外文翻译
机械手外文翻译ManipulatorAlong with our country the rapid development of industrial production, rapidly improve degree of automation, implementation artifacts of handling, steering, transmission or toil for welding gun, spray gun, spanner and other tools for processing, assembly operations such as automation, should cause the attention of people more and more.Manipulator is to imitate the people part of the action, according to agiven program, track and demanding acquirement, handling or operation ofthe automatic device. Applied in the industrial production of the manipulatoris referred to as \manipulator\Application manipulator can improve the automation of production water in production and labor productivity; Canreduce labor fatigue strength, to ensure product quality, implement safety production; Especially in high temperature and high pressure, low temperature, low pressure, dust, explosive, toxic and radioactive gases such as harsh environment, it instead of people normal work, the more significant. Therefore, in the machining, casting, welding, heat treatment, electroplating, spray painting, assembly, and light industry, transportation industry get more and more extensive application, etc.Manipulator institutional form is simple, strong professionalism, only asa loading device for a machine tools, special-purpose manipulator isattached to this machine. Along with the development of industrial technology, produced independently according to the process control to achieve repetitive operation, using range is wide \control generalmanipulator\hereinafter referred to as general manipulator. Generalmanipulator used to quickly change the working procedure, adaptability is stronger, so he is in constant transformation in the medium and small batch production of products are widely used.Manipulator is a kind of can automatic positioning control and can changeto programming with multifunctional machine, it has more degrees of freedom, can be used to move things to complete the work in different environments. InChina the low level of wages, plastic products industry still belongs to the labor-intensive, the use of the manipulator has become more popular. The electronic and automobile industry in Europe and the United States multinational companies very early in their factories in China introduced automatic production. But now the change is the industrial intensive distribution in south China, east China's coastal regions local plastic processing plant also began to manipulator show more and more interest, because they have to face high worker turnover rate, as as the challengewell s brought about by the workers pay inductrial injury fee.一、The composition of the manipulatorManipulator is in the form of a variety of, some relatively simple,some more complex, but the basic form is the same, generally by the actuators, transmission system, control system and the auxiliary device. 1. The actuator manipulator actuators, by the hand, wrist, arm, pillars. Hand is grasping mechanism, which is used to clamp and release artifacts, as a human finger, can complete staff of similar action. Is connected to the fingers and wrist arm components, can be up and down, left and right sides and rotary movement. Simple manipulator can not the wrist. Prop used to support the arm, can also according to need to make it move. 2. The driving system movement of the actuator by the transmission system to achieve. Common mechanical transmission system of mechanical transmission, hydraulic transmission, pneumatic transmission and power transmission etc. Several forms.3. The control system of manipulator control system main function is to control the manipulator according to certain procedures, movement direction, position, speed, simple manipulator is generally not set special control system, only the stroke switch, relay, control valves and control circuit can realize dynamic transmission system, the executing agency action in accordance with requirements. Action complex manipulator should adopts the programmable controller, microcomputer control. 二、classification and characteristics of the manipulatorRobots generally fall into three categories the first is generalmanipulator doesn't need manual operation. It is a kind of independence is not attached to a host device. It can according to the need of the task program, the operation of the provisions to complete. It is with the characteristics of common mechanical performance, also has general machinery,memory, intelligence of three yuan. The second is the need to do manually. Called Operating machine. It originated in the atom, military industry, first by Operating machine to complete a specific assignment, later to use radio signal Operating machine to explore the moon and so on. Used in the forging industry Operating machine falls under this category. The third kind is to use special manipulator, mainly attached to automatic machine or automatic line, used to solve machine tool material and workpiece to send up and down. This manipulator in a foreign country is called \host, driven by the host; Except a few working procedures generally is fixed, so it is special.三、The application of industrial manipulatorManipulator is in the process of mechanization, automation production, developed a kind of new type of device. In recent years, with electronic technology, especially the wide application of electronic computer, therobot's development and production has become a high technology developed rapidly in the field of an emerging technology, it promoted the development of the manipulator, make the manipulator canachieve better with the combination of mechanization and automation. Manipulator although it is not as flexible as manpower, but it can have repeated work and labor, do not know fatigue, is not afraid of danger, snatch heavy weights strength characteristics such as larger than man, as a result, the manipulator has been brought to the attention of the many departments, and have been applied more and more widely.(1) Machine tools machining the workpiece loading and unloading,especially in automatic lathe, use common combination machine tools. (2) Widely used in the assembly operation, it can be used to assemble printed circuit board in the electronics industry, it can be in the machinery industry to assemble parts.(3) Can be in working conditions is poor, repetitive easy fatigue of the work environment, to instead of human Labour. (4) The development of the universe and the ocean. (5) Military engineering and biomedical research and test.Application of robots can replace people in dull, repetitive or heavymanual work, to realize mechanization and automation of production, instead of human in harmful environment of manual operation, improve labor condition, ensure the personal safety. In the late 1940 s, the United Statesin the nuclear experiments, firstly adopts manipulator handling radioactive materials, people in the security room to manipulate感谢您的阅读，祝您生活愉快。
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密级分类号编号成绩本科生毕业设计 (论文)外文翻译原文标题Simple Manipulator And The Control Of It 译文标题简易机械手及控制作者所在系别机械工程系作者所在专业xxxxx作者所在班级xxxxxxxx作者姓名xxxx作者学号xxxxxx指导教师姓名xxxxxx指导教师职称副教授完成时间2012 年02 月北华航天工业学院教务处制译文标题简易机械手及控制原文标题 Simple Manipulator And The Control Of It作者机电之家译名JDZJ国籍中国原文出处机电之家中文译文：简易机械手及控制随着社会生产不断进步和人们生活节奏不断加快,人们对生产效率也不断提出新要求。
由于微电子技术和计算软、硬件技术的迅猛发展和现代控制理论的不断完善,使机械手技术快速发展,其中气动机械手系统由于其介质来源简便以及不污染环境、组件价格低廉、维修方便和系统安全可靠等特点,已渗透到工业领域的各个部门,在工业发展中占有重要地位。
本文讲述的气动机械手有气控机械手、XY轴丝杠组、转盘机构、旋转基座等机械部分组成。
主要作用是完成机械部件的搬运工作,能放置在各种不同的生产线或物流流水线中,使零件搬运、货物运输更快捷、便利。
一.四轴联动简易机械手的结构及动作过程机械手结构如下图1所示,有气控机械手(1)、XY轴丝杠组(2)、转盘机构(3)、旋转基座(4)等组成。
图1.机械手结构其运动控制方式为：(1)由伺服电机驱动可旋转角度为360°的气控机械手(有光电传感器确定起始0点);(2)由步进电机驱动丝杠组件使机械手沿X、Y轴移动(有x、y轴限位开关);(3)可回旋360°的转盘机构能带动机械手及丝杠组自由旋转(其电气拖动部分由直流电动机、光电编码器、接近开关等组成);(4)旋转基座主要支撑以上3部分;(5)气控机械手的张合由气压控制(充气时机械手抓紧,放气时机械手松开)。
其工作过程为：当货物到达时,机械手系统开始动作;步进电机控制开始向下运动,同时另一路步进电机控制横轴开始向前运动;伺服电机驱动机械手旋转到达正好抓取货物的方位处,然后充气,机械手夹住货物。
步进电机驱动纵轴上升,另一个步进电机驱动横轴开始向前走;转盘直流电机转动使机械手整体运动,转到货物接收处;步进电机再次驱动纵轴下降,到达指定位置后,气阀放气,机械手松开货物;系统回位准备下一次动作。
二.控制器件选型为达到精确控制的目的,根据市场情况,对各种关键器件选型如下：1.步进电机及其驱动器机械手纵轴(Y轴)和横轴(X轴)选用的是北京四通电机技术有限公司的42BYG250C型两相混合式步进电机,步距角为0.9°/1.8°,电流1.5A。
M1是横轴电机,带动机械手机构伸、缩;M2是纵轴电机,带动机械手机构上升、下降。
所选用的步进电机驱动器是SH-20403型,该驱动器采用10～40V直流供电,H桥双极性恒相电流驱动,最大3A的8种输出电流可选,最大64细分的7种细分模式可选,输入信号光电隔离,标准单脉冲接口,有脱机保持功能,半密闭式机壳可适应更恶劣的工况环境,提供节能的自动半电流方式。
驱动器内部的开关电源设计,保证了驱动器可适应较宽的电压范围,用户可根据各自情况在10～40VDC之间选择。
一般来说较高的额定电源电压有利于提高电机的高速力矩,但却会加大驱动器的损耗和温升。
本驱动器最大输出电流值为3A/相(峰值),通过驱动器面板上六位拨码开关的第5、6、7，三位可组合出8种状态,对应8种输出电流,从0.9A到3A以配合不同的电机使用。
本驱动器可提供整步、改善半步、4细分、8细分、16细分、32细分和64细分7种运行模式,利用驱动器面板上六位拨码开关的第1、2、3，三位可组合出不同的状态。
2.伺服电机及其驱动器机械手的旋转动作采用松下伺服电机A系列小惯量MSMA5AZA1G,其额定输出50W、100/200V共用,旋转编码器规格为增量式(脉冲数2500p/r、分辨率10000p/r、引出线11线);有油封,无制动器,轴采用键槽连接。
该电机采用松下公司独特算法,使速度频率响应提高2倍,达到500Hz;定位超调整定时间缩短为以往松下伺服电机产品V系列的1/4。
具有共振抑制功能、控制功能、全闭环控制功能,可弥补机械的刚性不足,从而实现高速定位,也可通过外接高精度的光栅尺,构成全闭环控制,进一步提高系统精度。
具有常规自动增益调整和实时自动增益调整两种自动增益调整方式,还配有RS-485、RS-232C通信口,使上位控制器可同时控制多达16个轴。
伺服电机驱动器为A系列MSDA5A3A1A,适用于小惯量电动机。
3.直流电机可回旋360°的转盘机构有直流无刷电机带动,系统选用的是北京和时利公司生产的57BL1010H1无刷直流电机,其调速范围宽、低速力矩大、运行平稳、低噪音、效率高。
无刷直流电机驱动器使用北京和时利公司生产的BL-0408驱动器,其采用24～48V直流供电,有起停及转向控制、过流、过压及堵转保护,且有故障报警输出、外部模拟量调速、制动快速停机等特点。
4.旋转编码器在可回旋360°的转盘机构上,安装有OMRON公司生产的E6A2增量型旋转编码器,编码器将信号传给PLC,实现转盘机构的精确定位。
5. PLC的选型根据系统的设计要求,选用OMRON公司生产的CPM2A小型机。
CPM2A在一个小巧的单元内综合有各种性能,包括同步脉冲控制、中断输入、脉冲输出、模拟量设定和时钟功能等。
CPM2A的CPU单元又是一个独立单元,能处理广泛的机械控制应用问题,所以它是在设备内用作内装控制单元的理想产品。
完整的通信功能保证了与个人计算机、其它OMRON PC和OMRON可编程终端的通信。
这些通信能力使四轴联动简易机械手能方便的融合到工业控制系统中。
三.软件编程1.软件流程图流程图是PLC程序设计的基础。
只有设计出流程图,才可能顺利而便捷地编写出梯形图并写出语句表,最终完成程序的设计。
所以写出流程图非常关键也是程序设计首先要做的任务。
依据四轴联动简易机械手的控制要求,绘制流程图如图2所示。
图2.软件流程图2.程序部分由于论文篇幅有限,这里只列出了开始两段程序,供读者参阅,见图3。
图3 程序列表四.结束语四轴联动简易机械手的各个动作和状态都由PLC控制,不仅能满足机械手的手动、半自动、自动等操作方式所需的大量按扭、开关、位置检测点的要求,更可通过接口元器件与计算机组成PLC工业局域网,实现网络通信与网络控制。
使四轴联动简易机械手能方便地嵌入到工业生产流水线中。
外文文献原文：Simple Manipulator And The Control Of ItAlong with the social production progress and people life rhythm is accelerating, people on production efficiency also continuously put forward new requirements. Because of microelectronics technology and calculation software and hardware technology rapid development and modern control theory, the perfection of the fast development, the robot technology pneumatic manipulator system because its media sources do not pollute the environment, simple and cheap components, convenient maintenance and system safety and reliability characteristic, has penetrated into every sector of the industrial field, in the industrial development plays an important role. This article tells of the pneumatic control robots, furious manipulator XY axis screw group, the turntable institutions, rotating mechanical parts base. Main effect is complete mechanical components handling work, to be placed in different kinds of line or logistics pipeline, make parts handling, transport of goods more quick and convenient.Matters of the manipulator axial linkage simple structure and action processManipulator structure, as shown in figure 1 below have accused of manipulator (1), XY axis screw group (2), the turntable institutions (3), rotating base (4), etc.Figure 1Manipulator StructureIts motion control mode is: (1) can rotate by servomotor Angle for 360 °breath control manipulator (photoelectric sensor sure start 0 point); (2) by stepping motor drive screw component make along the X, Y manipulators move (have X, Y axis limit switches); (3) can rotates 360 °can drive the turntable institutions manipulators and bushings free rotation (its electric drag in part by the dc motivation, photoelectric encoder, close to switch etc); (4) rotating base main support above 3 parts; (5) gas control manipulator by pressure control (Zhang close when pressed on, put inflatable robot manipulators loosen) when gas.Its working process for: when the goods arrived, manipulator system begins to move; Stepping motor control, while the other start downward motion alongthe horizontal axis of the step-motor controller began to move exercise; Servo motor driver arrived just grab goods manipulators rotating the orientation of the place, then inflatable, manipulator clamped goods.Vertical axis stepper motor drive up, the other horizontal axis stepper motor driver started to move forward; rotary DC motor rotation so that the whole robot motion, go to the cargo receiving area; longitudinal axis stepper motor driven down again, arrived at the designated location, Bleed valve, mechanical hand release the goods; system back to the place ready for the next action.II.Device controlTo achieve precise control purposes, according to market conditions, selection of a variety of key components as follows:1. Stepper motor and driveMechanical hand vertical axis (Y axis) and horizontal (X axis) is chosen Motor Technology Co., Ltd. Beijing Stone 42BYG250C type of two-phase hybrid stepping motor, step angle of 0.9 ° / 1.8 °, current is 1.5A. M1 is the horizontal axis motor driven manipulator stretch, shrink; M2 is the vertical axis motor driven manipulator rise and fall. The choice of stepper motor drive is SH-20403 type, the drive uses 10 ~ 40V DC power supply, H-phase bridge bipolar constant current drive, the maximum output current of 3A of the 8 optional, maximum fine of 64 segments of 7 sub-mode optional optical isolation, standard single-pulse interface, with offline capabilities to maintain semi-sealed enclosure can be adapted to environmental conditions even worse, provide semi-current energy-saving mode automatically. Drive the internal switching power supply design to ensure that the drive can be adapted to a wide voltage range, the user can according to their circumstances to choose between the 10 ~ 40VDC. Generally the higher rated power supply voltage can improve high-speed torque motor, but the drive will increase the loss and temperature rise. The maximum output drive current is 3A / phase (peak), six drive-panel DIP switch on the first three can be combined 5,6,7 8 out of state, corresponding to the 8 kinds of output current from 0.9A to 3A to meet the different motors. The drive can provide full step, half step improvement, subdivision 4, 8 segments, 16 segments, 32 segments and 64 segments of 7 operating modes. The use of six of the drive panel DIP switches 1,2and3 can be combined from three different states.2. Servo motors and drivesManipulator with Panasonic servo motor rotational movement A series of small inertia MSMA5AZA1G, the rated 50W, 100/200V share, rotary incremental encoder specifications (number of pulses 2500p / r, resolution of 10000p / r, Lead 11 lines) ; a seal, no brakes, shaft with keyway connections. The motor uses Panasonic's unique algorithms, the rate increased by 2 times the frequency response, to 500Hz; positioning over the past adjust the scheduled time by Panasonic servo motor products for the V Series of 1 / 4. With the resonance suppression, control, closed loop control, can make up for lack of mechanical rigidity, in order to achieve high positioning accuracy can also be an external grating to form closed loop control to further improveaccuracy. With a conventional automatic gain adjustment and real-time automatic gainInterest adjustment in the automatic gain adjustment methods, which also has RS-485, RS-232C communication port, the host controller can control up to 16 axes. Servo motor drives are a series MSDA5A3A1A, applicable to small inertia motor.3. DC machine360 °swing of the turntable can be a brushless DC motor driven organization, the system is chosen when the profit company in Beijing and the 57BL1010H1 brushless DC motor, its speed range, low-speed torque, smooth running, low noise, high efficiency. Brushless DC motor drive using the Beijing and when Lee's BL-0408 produced by the drive, which uses 24 ~ 48V DC power supply, a start-stop and steering control, over current, overvoltage and locked rotor protection, and there is failure alarm output external analog speed control, braking down so fast.4. Rotary encoderCan swing 360 ° in the body on the turntable, fitted with OMRON E6A2 produced incremental rotary encoder, the encoder signals to the PLC, to achieve precise positioning of rotary bodies.5. PLC SelectionAccording to the system design requirements, the choice of OMRON CPM2A produced minicomputer. CPM2A in a compact unit integrated with a variety of properties, including the synchronization pulse control, interrupt input, pulse output, analog set and clock functions. CPM2A the CPU unit is a stand-alone unit, capable of handling a wide range of application of mechanical control, it is built in the device control unit for the ideal product. Ensure the integrity of communications and personal computers, other OMRON PC and OMRON Programmable Terminal communication. The communication capability allows the robot to Axis simple easy integration into industrial control systems.III. Software programming1. Software flow chartPLC programming flow chart is based. Only the design flow, it may be smooth and easy to prepare and write a statement form the ladder, and ultimately complete the process design. So write a flow chart of program design is critical to the task first thing to do. Axis Manipulator based on simple control requirements, drawing flow chart shown in Figure 2.Figure 2Software flow chart2. Program partBecause space is limited, here only paper listed the first two program segment for readers see.Figure 3 Program partIV. ConclusionAxis simple robot state by the various movements and PLC control, the robot can not only meet the manual, semi-automatic mode of operation required for such a large number of buttons, switches, position detection point requirements, but also through the interface components and Computer Organization PLC industrial LAN, network communication and network control. Axis simple robot can be easily embedded into industrial production pipeline.指导教师评语外文翻译成绩：指导教师签字：年月日注：1. 指导教师对译文进行评阅时应注意以下几个方面：①翻译的外文文献与毕业设计（论文）的主题是否高度相关，并作为外文参考文献列入毕业设计（论文）的参考文献；②翻译的外文文献字数是否达到规定数量（3 000字以上）；③译文语言是否准确、通顺、具有参考价值。