机械手外文翻译---简易机械手及控制

合集下载

外文翻译---机械手的机械和控制系统

机械手的机械和控制系统文章来源:Dirk Osswald, Heinz Wörn.Department of Computer Science , Institute for Process Control and Robotics (IPR).,Engler-Bunte-Ring 8 - Building 40.28.摘要:最近，全球内带有多指夹子或手的机械人系统已经发展起来了，多种方法应用其上，有拟人化的和非拟人化的。

不仅调查了这些系统的机械结构,而且还包括其必要的控制系统。

如同人手一样，这些机械人系统可以用它们的手去抓不同的物体，而不用改换夹子。

这些机械手具备特殊的运动能力（比如小质量和小惯性），这使被抓物体在机械手的工作范围内做更复杂、更精确的操作变得可能。

这些复杂的操作被抓物体绕任意角度和轴旋转。

本文概述了这种机械手的一般设计方法，同时给出了此类机械手的一个示例，如卡尔斯鲁厄灵巧手Ⅱ。

本文末介绍了一些新的构想，如利用液体驱动器为类人型机器人设计一个全新的机械手。

关键词：多指机械手；机器人手；精操作；机械系统；控制系统1.引言2001年6月在德国卡尔斯鲁厄开展的“人形机器人”特别研究，是为了开发在正常环境（如厨房或客厅）下能够和人类合作和互动的机器人系统。

设计这些机器人系统是为了能够在非专业、非工业的条件下（如身处多物之中），帮我们抓取不同尺寸、形状和重量的物体。

同时，它们必须能够很好的操纵被抓物体。

这种极强的灵活性只能通过一个适应性极强的机械人手抓系统来获得，即所谓的多指机械手或机器人手。

上文提到的研究项目，就是要制造一个人形机器人，此机器人将装备这种机器人手系统。

这个新手将由两个机构合作制造，它们是卡尔斯鲁厄大学的IPR（过程控制和机器人技术研究院）和c（计算机应用科学研究院）。

这两个组织都有制造此种系统的相关经验，但是稍有不同的观点。

IPR制造的卡尔斯鲁厄灵巧手Ⅱ（如图1所示），是一个四指相互独立的手爪，我们将在此文中详细介绍。

机械手臂外文翻译

外文出处：《Manufacturing Engineering and Technology—Maching》附件1：外文原文ManipulatorFirst, an overview of industrial manipulatorWith the rapid development of China's industrial production, especially the reform and openingup 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.Production of mechanical hand can increase the automation level of production and labor productivity; can reduce labor intensity, ensuring product quality, to achieve safe production; particularly in the high-temperature, high pressure, low temperature, low pressure, dust, explosive, toxic andradioactive 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: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.5." The air cleaner media, it will not degenerate, not easy to plug the pipeline. But there are also places where it fly in the ointment:2." As the use of low atmospheric pressure, the output power can notbe too large; in order to increase the output power is bound to the structure of the entire pneumaticsystem size increased.Air inexhaustible, used later discharged into the atmosphere, without recycling and disposal, donot 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.Compared with the hydraulic transmission, and its faster action and reaction, which is one of the outstanding merits of pneumatic.1.Implementing agencies2. Transmission3. Control SystemRobots are generally divided into three categories: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)Four, industrial machinery, application of hand(3) The working conditions may be poor, monotonous, repetive 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: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。

工业机械手外文文献翻译、中英文翻译

第一章概述1. 1机械手的发展历史人类在改造自然的历史进程中，随着对材料、能源和信息这三者的认识和用，不断创造各种工具（机器），满足并推动生产力的发展。

工业社会向信息社会发展，生产的自动化，应变性要求越来越高，原有机器系统就显得庞杂而不灵活，这时人们就仿造自身的集体和功能，把控制机、动力机、传动机、工作机综合集中成一体，创造了“集成化”的机器系统——机器人。

从而引起了生产系统的巨大变革，成为“人——机器人——劳动对象”，或者“人——机器人——动力机——工作机——劳动对象”。

机器人技术从诞生到现在，虽然只有短短三十几年的历史，但是它却显示了旺盛的生命力。

近年来，世界上对于发展机器人的呼声更是有增无减，发达国家竞相争先，发展中国家急起直追。

许多先进技术国家已先后把发展机器人技术列入国家计划，进行大力研究。

我国的机器人学的研究也已经起步，并把“机器人开发研究”和柔性制造技术系统和设备开发研究等与机器人技术有关的研究课题列入国家“七五”、“八五”科技发展计划以及“八六三”高科技发展计划。

工业机械手是近代自动控制领域中出现的一项新技术，并已经成为现代机械制造生产系统中的一个重要组成部分。

这种新技术发展很快，逐渐形成一门新兴的学科——机械手工程。

1. 2机械手的发展意义机械手的迅速发展是由于它的积极作用正日益为人们所认识：其一、它能部分地代替人工操作；其二、它能按照生产工艺的要求，遵循一定的程序、时间和位置来完成工件的传送和装卸；其三、它能操作必要的机具进行焊接和装配。

从而大大地改善工人的劳动条件，显著地提高劳动生产率，加快实现工业生产机械化和自动化的步伐。

因而，受到各先进工业国家的重视，投入大量的人力物力加以研究和应用。

近年来随着工业自动化的发展机械手逐渐成为一门新兴的学科，并得到了较快的发展。

机械手广泛地应用于锻压、冲压、锻造、焊接、装配、机加、喷漆、热处理等各个行业。

特别是在笨重、高温、有毒、危险、放射性、多粉尘等恶劣的劳动环境中，机械手由于其显著的优点而受到特别重视。

机械毕业设计英文外文翻译简易机械手及控制

附录外文文献原文：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 1 Manipulator 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 along the 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 keycomponents 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 64segments 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 improve accuracy. 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 2 Software 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.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。

机械手(Manipulator)英文【范本模板】

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 envelopment 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。

机械手外文翻译(英)

The Effect of a Viscous Coupling Used as a Front-Wheel Drive Limited-Slip Differential on Vehicle Traction and Handling1 ABCTRACTThe viscous coupling is known mainly as a driveline component in four wheel drive vehicles. Developments in recent years, however, point toward the probability that this device will become a major player in mainstream front-wheel drive application. Production application in European and Japanese front-wheel drive cars have demonstrated that viscous couplings provide substantial improvements not only in traction on slippery surfaces but also in handing and stability even under normal driving conditions.This paper presents a serious of proving ground tests which investigate the effects of a viscous coupling in a front-wheel drive vehicle on traction and handing. Testing demonstrates substantial traction improvements while only slightly influencing steering torque. Factors affecting this steering torque in front-wheel drive vehicles during straight line driving are described. Key vehicle design parameters are identified which greatly influence the compatibility of limited-slip differentials in front-wheel drive vehicles.Cornering tests show the influence of the viscous coupling on the self steering behavior of a front-wheel drive vehicle. Further testing demonstrates that a vehicle with a viscous limited-slip differential exhibits an improved stability under acceleration and throttle-off maneuvers during cornering.2 THE VISCOUS COUPLINGThe viscous coupling is a well known component in drivetrains. In this paper only a short summary of its basic function and principle shall be given.The viscous coupling operates according to the principle of fluid friction, and is thus dependent on speed difference. As shown in Figure 1 the viscous coupling has slip controlling properties in contrast to torque sensing systems.This means that the drive torque which is transmitted to the front wheels is automatically controlled in the sense of an optimized torque distribution.In a front-wheel drive vehicle the viscous coupling can be installed inside the differential or externally on an intermediate shaft. The external solution is shown in Figure 2.This layout has some significant advantages over the internal solution. First,there is usually enough space available in the area of the intermediate shaft to provide the required viscous characteristic. This is in contrast to the limited space left in today’s front-axle differentials. Further, only minimal modification to the differential carrier and transmission case is required. In-house production of differentials is thus only slightly affected. Introduction as an option can be made easily especially when the shaft and the viscous unit is supplied as a complete unit. Finally, the intermediate shaft makes it possible to provide for sideshafts of equal length with transversely installed engines which is important to reduce torque steer (shown later in section 4).This special design also gives a good possibility for significant weight and cost reductions of the viscous unit. GKN Viscodrive is developing a low weight and cost viscous coupling. By using only two standardized outer diameters, standardized plates, plastic hubs and extruded material for the housing which can easily be cut to different lengths, it is possible to utilize a wide range of viscous characteristics. An example of this development is shown in Figure 3.3 TRACTION EFFECTSAs a torque balancing device, an open differential provides equal tractive effort to both driving wheels. It allows each wheel to rotate at different speeds during cornering without torsional wind-up. These characteristics, however, can be disadvantageous when adhesion variations between the left and right sides of the road surface (split-μ) limits the torque transmitted for both wheels to that which can be supported by the low-μwheel.With a viscous limited-slip differential, it is possible to utilize the higher adhesion potential of the wheel on the high-μsurface. This is schematically shown in Figure 4.When for example, the maximum transmittable torque for one wheel is exceeded on a split-μsurface or during cornering with high lateral acceleration, a speed difference between the two driving wheels occurs. The resulting self-locking torque in the viscous coupling resists any further increase in speed difference and transmits the appropriate torque to the wheel with the better traction potential.It can be seen in Figure 4 that the difference in the tractive forces results in a yawing moment which tries to turn the vehicle in to the low-μside, To keep the vehicle in a straight line the driver has to compensate this with opposite steering input. Though the fluid-friction principle of the viscous coupling and the resulting softtransition from open to locking action, this is easily possible, The appropriate results obtained from vehicle tests are shown in Figure 5.Reported are the average steering-wheel torque Ts and the average corrective opposite steering input required to maintain a straight course during acceleration on a split-μtrack with an open and a viscous differential. The differences between the values with the open differential and those with the viscous coupling are relatively large in comparison to each other. However, they are small in absolute terms. Subjectively, the steering influence is nearly unnoticeable. The torque steer is also influenced by several kinematic parameters which will be explained in the next section of this paper.4 FACTORS AFFECTING STEERING TORQUEAs shown in Figure 6 the tractive forces lead to an increase in the toe-in response per wheel. For differing tractive forces, Which appear when accelerating on split-μwith limited-slip differentials, the toe-in response changes per wheel are also different.Unfortunately, this effect leads to an undesirable turn-in response to the low-μside, i.e. the same yaw direction as caused by the difference in the tractive forces.Reduced toe-in elasticity is thus an essential requirement for the successful front-axle application of a viscous limited-slip differential as well as any other type of limited-slip differential.Generally the following equations apply to the driving forces on a wheelμV T F F =With =T F Tractive Force=V F Vertical Wheel Load=μUtilized Adhesion CoefficientThese driving forces result in steering torque at each wheel via the wheel disturbance level arm “e ” and a steering torque difference between the wheels given by the equation:△e T =()lo H hi H F F e ---∙∙δcosWhere △=e T Steering Torque Differencee=Wheel Disturbance Level Arm=δKing Pin Anglehi=high-μside subscriptlo=low-μside subscriptIn the case of front-wheel drive vehicles with open differentials, △Ts is almost unnoticeable, since the torque bias (lo H hi T F F --/) is no more than 1.35.For applications with limited-slip differentials, however, the influence is significant. Thus the wheel disturbance lever arm e should be as small as possible. Differing wheel loads also lead to an increase in △Te so the difference should also be as small as possible.When torque is transmitted by an articulated CV-Joint, on the drive side (subscript 1) and the driven side (subscript 2),differing secondary moments are produced that must have a reaction in a vertical plane relative to the plane of articulation. The magnitude and direction of the secondary moments (M) are calculated as follows (see Figure 8):Drive side M1 =v v T T ββηtan /)2/tan(2-∙Driven side M2 =v v T T ββηtan /)2/tan(2+∙With T2 =dyn T r F ∙ηT =()system Jo T f int ,,2βWhere v β∧=Vertical Articulation Angleβ∧=Resulting Articulation Angled y n r ∧=Dynamic Wheel RadiusηT ∧=Average Torque LossThe component δcos 2∙M acts around the king-pin axis (see figure 7) as a steering torque per wheel and as a steering torque difference between the wheels as follows: ])tan /2/tan ()sin /2/tan [(cos 22li w hi w T T T T T ----+±=∆νηννηνβββββδ where ∧=∆βT Steering Torque DifferenceW ∧=Wheel side subscriptIt is therefore apparent that not only differing driving torque but also differingarticulations caused by various driveshaft lengths are also a factor. Referring to the moment-polygon in Figure 7, the rotational direction of M2 or βT respectively change, depending on the position of the wheel-center to the gearbox output.For the normal position of the halfshaft shown in Figure 7(wheel-center below the gearbox output joint) the secondary moments work in the same rotational direction as the driving forces. For a modified suspension layout (wheel-center above gearbox output joint, i.e. v βnegative) the secondary moments counteract the moments caused by the driving forces. Thus for good compatibility of the front axle with a limited-slip differential, the design requires: 1) vertical bending angles which are centered around 0=v βor negative (0<v β) with same values of v βon both left and right sides; and 2) sideshafts of equal length.The influence of the secondary moments on the steering is not only limited to the direct reactions described above. Indirect reactions from the connection shaft between the wheel-side and the gearbox-side joint can also arise, as shown below:Figure 9: Indirect Reactions Generated by Halfshaft Articulation in the Vertical PlaneFor transmission of torque without loss and vd vw ββ= both of the secondary moments acting on the connection shaft compensate each other. In reality (with torque loss), however, a secondary moment difference appears:△W D DW M M M 12-=With -+=ηT T T W D 22The secondary moment difference is: =D W M ()VW W VW W VD VD W T T D T w T T ββββηηηtan /2/tan sin /tan 22/2+-++For reasons of simplification it apply that V VW VD βββ==and ηηηT T T W D == to give △()V V V D W T M βββηtan /1sin /12/tan ++∙=△DW M requires opposing reaction forces on both joints where L M F D W D W /∆=. Due to the joint disturbance lever arm f, a further steering torque also acts around the king-pin axis:L f M T D W f /cos δ∙∙∆=()lo lo D W hi hi D W f L M L M f T //cos ---∙∙=∆Where ∧=f T Steering Torque per Wheel∧=∆f T Steering Torque Difference∧=f Joint Disturbance Lever∧=L Connection shaft (halfshaft) LengthFor small values of f, which should be ideally zero, f T ∆ is of minor influence.5．EFFECT ON CORNERINGViscous couplings also provide a self-locking torque when cornering, due to speed differences between the driving wheels. During steady state cornering, as shown in figure 10, the slower inside wheel tends to be additionally driven through the viscous coupling by the outside wheel.Figure 10: Tractive forces for a front-wheel drive vehicle during steady state corneringThe difference between the Tractive forces Dfr and Dfl results in a yaw moment MCOG , which has to be compensated by a higher lateral force, and hence a larger slip angle af at the front axle. Thus the influence of a viscous coupling in a front-wheel drive vehicle on self-steering tends towards an understeering characteristic. This behavior is totally consistent with the handling bias of modern vehicles which all under steer during steady state cornering maneuvers. Appropriate test results are shown in figure 11.Figure 11: comparison between vehicles fitted with an open differential and viscous coupling during steady state cornering.The asymmetric distribution of the tractive forces during cornering as shown in figure 10 improves also the straight-line running. Every deviation from the straight-line position causes the wheels to roll on slightly different radii. The difference between the driving forces and the resulting yaw moment tries to restore the vehicle to straight-line running again (see figure 10).Although these directional deviations result in only small differences in wheel travel radii, the rotational differences especially at high speeds are large enough for a viscous coupling front differential to bring improvements in straight-line running.High powered front-wheel drive vehicles fitted with open differentials often spintheir inside wheels when accelerating out of tight corners in low gear. In vehicles fitted with limited-slip viscous differentials, this spinning is limited and the torque generated by the speed difference between the wheels provides additional tractive effort for the outside driving wheel. this is shown in figure 12Figure 12: tractive forces for a front-wheel drive vehicle with viscous limited-slip differential during acceleration in a bendThe acceleration capacity is thus improved, particularly when turning or accelerating out of a T-junction maneuver ( i.e. accelerating from a stopped position at a “T” intersection-right or left turn ).Figures 13 and 14 show the results of acceleration tests during steady state cornering with an open differential and with viscous limited-slip differential .Figure 13: acceleration characteristics for a front-wheel drive vehicle with an open differential on wet asphalt at a radius of 40m (fixed steering wheel angle throughout test).Figure 14: Acceleration Characteristics for a Front-Wheel Drive Vehicle with Viscous Coupling on Wet Asphalt at a Radius of 40m (Fixed steering wheel angle throughout test)The vehicle with an open differential achieves an average acceleration of 2.0 2/sm while them(limited by/s vehicle with the viscous coupling reaches an average of 2.3 2engine-power). In these tests, the maximum speed difference, caused by spinning of the inside driven wheel was reduced from 240 rpm with open differential to 100 rpm with the viscous coupling.During acceleration in a bend, front-wheel drive vehicles in general tend to understeer more than when running at a steady speed. The reason for this is the reduction of the potential to transmit lateral forces at the front-tires due to weight transfer to the rear wheels and increased longitudinal forces at the driving wheels. In an open loop control-circle-test this can be seen in the drop of the yawing speed (yaw rate) after starting to accelerate (Time 0 in Figure 13 and 14). It can also be taken from Figure 13 and Figure 14 that the yaw rate of the vehicle with the open differential falls-off more rapidly than for the vehicle with the viscous coupling starting to accelerate. Approximately 2 seconds after starting to accelerate, however, the yaw rate fall-off gradient of the viscous-coupled vehicle increases more than at thevehicle with open differential.The vehicle with the limited slip front differential thus has a more stable initial reaction under accelerating during cornering than the vehicle with the open differential, reducing its understeer. This is due to the higher slip at the inside driving wheel causing an increase in driving force through the viscous coupling to the outside wheel, which is illustrated in Figure 12. the imbalance in the front wheel tractive forces results in a yaw momentM acting in direction of the turn, countering theCSDundersteer.When the adhesion limits of the driving wheels are exceed, the vehicle with the viscous coupling understeers more noticeably than the vehicle with the open differential (here, 2 seconds after starting to accelerate). On very low friction surfaces, such as snow or ice, stronger understeer is to be expected when accelerating in a curve with a limited slip differential because the driving wheels-connected through the viscous coupling-can be made to spin more easily (power-under-steering). This characteristic can, however, be easily controlied by the driver or by an automatic throttle modulating traction control system. Under these conditions a much easier to control than a rear-wheel drive car. Which can exhibit power-oversteering when accelerating during cornering. All things, considered, the advantage through the stabilized acceleration behavior of a viscous coupling equipped vehicle during acceleration the small disadvantage on slippery surfaces.Throttle-off reactions during cornering, caused by releasing the accelerator suddenly, usually result in a front-wheel drive vehicle turning into the turn (throttle-off oversteering ). High-powered modeles which can reach high lateral accelerations show the heaviest reactions. This throttle-off reaction has several causes such as kinematic influence, or as the vehicle attempting to travel on a smaller cornering radius with reducing speed. The essential reason, however, is the dynamic weight transfer from the rear to the front axle, which results in reduced slip-angles on the front and increased slip-angles on the rear wheels. Because the rear wheels are not transmitting driving torque, the influence on the rear axle in this case is greater than that of the front axle. The driving forces on the front wheels before throttle-off (see Figure 10) become over running or braking forces afterwards, which is illustrated for the viscous equipped vehicle in Figure 15.Figure 15:Baraking Forces for a Front-Wheel Drive Vehicle with ViscousLimited-Slip Differential Immediately after a Throttle-off Maneuver While CorneringAs the inner wheel continued to turn more slowly than the outer wheel, the viscous coupling provides the outer wheel with the larger braking force f B . The force difference between the front-wheels applied around the center of gravity of the vehicle causes a yaw moment G C M 0 that counteracts the normal turn-in reaction.When cornering behavior during a throttle-off maneuver is compared for vehicles with open differentials and viscous couplings, as shown in Figure 16 and 17, the speed difference between the two driving wheels is reduced with a viscous differential.Figure 16: Throttle-off Characteristics for a Front-Wheel Drive Vehicle with an open Differential on Wet Asphalt at a Radius of 40m (Open Loop)Figure 17:Throttle-off Characteristics for a Front-Wheel Drive Vehicle with Viscous Coupling on Wet Asphalt at a Radius of 40m (Open Loop)The yawing speed (yaw rate), and the relative yawing angle (in addition to the yaw angle which the vehicle would have maintained in case of continued steady state cornering) show a pronounced increase after throttle-off (Time=0 seconds in Figure 14 and 15) with the open differential. Both the sudden increase of the yaw rate after throttle-off and also the increase of the relative yaw angle are significantly reduced in the vehicle equipped with a viscous limited-slip differential.A normal driver os a front-wheel drive vehicle is usually only accustomed to neutral and understeering vehicle handing behavior, the driver can then be surprised by sudden and forceful oversteering reaction after an abrupt release of the throttle, for example in a bend with decreasing radius. This vehicle reaction is further worsened if the driver over-corrects for the situation. Accidents where cars leave the road to the inner side of the curve is proof of this occurrence. Hence the viscous coupling improves the throttle-off behavior while remaining controllable, predictable, and safer for an average driver.6. EFFECT ON BRAKINGThe viscous coupling in a front-wheel drive vehicle without ABS (anti-lock braking system) has only a very small influence on the braking behavior on split-μ surfaces. Hence the front-wheels are connected partially via the front-wheel on the low-μ side is slightly higher than in an vehicle with an open differential. On the other side ,the brake pressure to lock the front-wheel on the high-μ side is slightlylower. These differences can be measured in an instrumented test vehicle but are hardly noticeable in a subjective assessment. The locking sequence of front and rear axle is not influenced by the viscous coupling.Most ABS offered today have individual control of each front wheel. Electronic ABS in front-wheel drive vehicles must allow for the considerable differences in effective wheel inertia between braking with the clutch engaged and disengaged.Partial coupling of the front wheels through the viscous unit does not therefore compromise the action of the ABS - a fact that has been confirmed by numerous tests and by several independent car manufacturers. The one theoretical exception to this occurs on a split-μ—surface if a yaw moment build-up delay or Yaw Moment Reduction(YMR) is included in the ABS control unit. Figure 18 shows typical brake pressure sequences, with and without YMR.figure 18: brake pressure build-up characteristics for the front brakes of a vehicle braking on split-μwith ABS.In vehicles with low yaw inertia and a short wheelbase, the yaw moment build-up can be delayed to allow an average driver enough reaction time by slowing the brake pressure build-up over the ABS for the high-μwheel. The wheel on the surface with the higher friction coefficient is therefore, particularly at the beginning of braking, under-braked and runs with less slip. The low-μwheel, in contrast, can at the same time have a very high slip, which results in a speed difference across the viscous differential. The resulting self-locking torque then appears as an extra braking force at the high-μwheel which counteracts the YMR.Although this might be considered as a negative effect and can easily be corrected when setting the YMR algorithm for a vehicle with a front viscous coupling, vehicle tests have proved that the influence is so slight that no special development of new ABS/YMR algorithms are actually needed. Some typical averaged test results are summarized in Figure 19.figure 19 : results form ABS braking tests with YMR on split-μ(V o=50 mph, 3rd Gear, closed loop ) in figure 19 on the left a comparison of the maximum speed difference which occurred in the first ABS control cycle during braking is shown. It is obvious that the viscous coupling is reducing this speed difference. As the viscous coupling counteracts the YMR, the required steering wheel angle to keep the vehicle in straight direction in the first second of braking increased from 39°to 51°(figure 19,middle). Since most vehicle and ABS manufacturers consider 90°to be the critical limit, this can be tolerated. Finally, as the self-locking torque produced by the viscous coupling causes an increase in high-µ. Wheel braking force, a slightly higher vehicle deceleration was maintained(figure 19,right).7 SUMMARYin conclusion,it can be established that the application of a viscous coupling in a front-axle differential. It also positively influences the complete vehicle handling and stability , with only slight, but acceptable influence on torques-steer.To reduce unwanted torque-steer effects a basic set of design rules have been established:●Toe-in response due to longitudinal load change must be as small as possible .●Distance between king-pin axis and wheel center has to be as small as possible.●Vertical bending angle-rang should be centered around zero(or negative).●vertical bending angles should be the same for both sides.●Sideshafts should be of equal length.Of minor influence on torque-steer is the joint disturbance lever arm which should be ideally zero for other reasons anyway. Braking with and without ABS is only negligibly influenced by the viscous coupling. Traction is significantly improved by the viscous limited slip differential in a front-wheel drive vehicle.The self-steering behavior of a front-wheel drive vehicle is slightly influenced by a viscous limited slip differential in the direction of understeer. The improved reactions to throttle-off and acceleration during cornering make a vehicle with viscous coupling in the front-axle considerably more stable, more predictable and therefore safer.11。

关于机械手的中英文翻译

外文翻译COMBINATION OF ROBOT CONTROL AND ASSEMBLY PLANNINGFOR A PRECISION MANIPULATOORAbstractThis paper researches how to realize the automatic assembly operation on a two-finger precision manipulator. A multi-layer assembly support system is proposed. At the task-planning layer, based on the computer-aided design (CAD) model, the assembly sequence is first generated, and the information necessary for skill decomposition is also derived. Then, the assembly sequence is decomposed into robot skills at the skill-decomposition layer. These generated skills are managed and executed at the robot control layer. Experimental results show the feasibility and efficiency of the proposed system.Keywords Manipulator Assembly planning Skill decomposition Automated assembly1 IntroductionOwing to the micro-electro-mechanical systems (MEMS) techniques, many products are becoming very small and complex, such as microphones, micro-optical components, and microfluidic biomedical devices, which creates increasing needs for technologies and systems for the automated precision assembly of miniature parts. Many efforts aiming at semi-automated or automated assembly have been focused on microassembly technologies. However, microassembly techniques of high flexibility, efficiency, and reliability still open to further research. Thispaper researches how to realize the automatic assembly operation on a two-finger micromanipulator. A multi-layer assembly support system is proposed.Automatic assembly is a complex problem which may involve many different issues, such as task planning, assembly sequences generation, execution, and control, etc. It can be simply divided into two phases; the assembly planning and the robot control. At the assembly-planning phase, the information necessary for assembly operations, such as the assembly sequence, is generated. At the robot control phase, the robot is driven based on the information generated atthe assembly-planning phase, and the assembly operations are conducted. Skill primitives can work as the interface of assembly planning to robot control. Several robot systems based on skill primitives have been reported. The basic idea behind these systems is the robot programming. Robot movements are specified as skill primitives, based on which the assembly task is manually coded into programs. With the programs, the robot is controlled to fulfill assembly tasks automatically.A skill-based micromanipulation system has been developed in the authors’ lab, and it can realize many micromanipulation operations. In the system, the assembly task is manually discomposed into skill sequences and compiled into a file. After importing the file into the system, the system can automatically execute the assembly task. This paper attempts to explore a user-friendly, and at the same time easy, sequence-generation method, to relieve the burden of manually programming the skillsequence.It is an effective method to determine the assembly sequence from geometric computer-aided design (CAD) models. Many approaches have been proposed. This paper applies a simple approach to generate the assembly sequence. It is not involved with the low-level data structure of the CAD model, and can be realized with the application programming interface (API) functions that many commercial CAD software packages provide. In the proposed approach, a relations graph among different components is first constructed by analyzing the assembly model, and then, possible sequences are searched, based onthe graph. According to certain criterion, the optimal sequence is finally obtained.To decompose the assembly sequence into robot skill sequences, some works have been reported. In Nnaji et al.’s work, the assembly task commands are expanded to more detailed commands, which can be seen as robot skills, according to a predefined format. The decomposition approach of Mosemann and Wahl is based on the analysis of hyperarcs of AND/OR graphs representing the automatically generated assembly plans. This paper proposes a method to guide the skill decomposition. The assembly processes of parts are grouped into different phases, and parts are at different states. Specific workflows push forward parts from one state to another state. Each workflow is associated with a skill generator. According to the different start state and target state of the workflow, the skill generator creates a series of skills that can promote the part to its target state.The hierarchy of the system proposed here ,the assembly information on how to assemble a product is transferred to the robot through multiple layers. The top layer is for the assembly-task planning. The information needed for the task planning and skill generation are extracted from the CAD model and are saved in the database. Based on the CAD model, the assembly tasksequences are generated. At the skill-decomposition layer, tasks are decomposed into skill sequences. The generated skills are managed and executed at the robot control layer.2 Task planningSkills are not used directly at the assembly-planning phase. Instead, the concept of a task is used. A task can fulfill a series of assembly operations, for example, from locating a part, through moving the part, to fixing it with another part. In other words, one task includes many functions that may be fulfilled by several different skills. A task is defined as:T =（Base Part; Assembly Part; Operation）Base_Part and Assembly_Part are two parts that are assembled together. Base_Part is fixed on the worktable, while Assembly_Part is handled by robot’s end-effector and assembled onto the Base_Part. Operation describes how the Assembly_Part is assembled with the Base_Part; Operation ∈ {Insertion_T, screw_T, align_T,...}.The structure of microparts is usually uncomplicated, and they can be modeled by the constructive solid geometry (CSG) method. Currently, many commercial CAD software packages can support 3D CSG modeling. The assembly model is represented as an object that consists of two parts with certain assembly relations that define howthe parts are to be assembled. In the CAD model, the relations are defined by geometric constraints. The geometric information cannot be used directly to guide the assembly operation—we have to derive the information necessary for assembly operations from the CAD model.Through searching the assembly tree and geometric relations (mates’ relations) defined in the assembly’s CAD model, we can generate a relation graph among parts, for example, In the graph, the nodes represent the parts. If nodes are connected, it means that there are assembly relations among these connected nodes (parts).2.1 Mating directionIn CSG, the relations of two parts, geometric constraints, are finally represented as relations between planes and lines, such as collinear, coplanar, tangential, perpendicular, etc. For example, a shaft is assembled in a hole. The assembly relations between the two parts may consist of such two constraints as collinear between the centerline of shaft Lc_shaft and the centerline of hole Lc_hole and coplanar between the plane P_Shaft and the plane P_Hole. The mating direction is a key issue for an assembly operation. This paper applies the following approach to compute the possible mating direction based on the geometric constraints (the shaft-in-hole operation of Fig.3 is taken as an example):1. For a part in the relation graph, calculate its remaining degrees of freedom,also called degrees of separation, of each geometric constraint.For the coplanar constraint, the remaining degrees of freedom are {}z Rot y x R ,,1=. For the collinear constraint, the remaining degrees of freedom are {}z Rot z R ,2=. 1R and 2R can also be represented as {}1,0,0,0,1,11=R and {}1,0,0,1,0,02=R . Here, 1 means that there is a degree of separation between the two parts. {}1,0,0,00,021，= R R , and so, the degree of freedom around the z axis will be ignored in the following steps.In the case that there is a loop in the relation graph, such as parts Part 5, Part 6, and Part 7 in Fig. 2, the loop has to be broken before the mating direction is calculated. Under the assumption that all parts in the CAD model are fully constrained and not over-constrained, the following simple approach is adopted. For the part t in the loop, calculate the number of 1s in in i i ti R R R N ...21=; where ik R is the remaining degrees of freedom of constraint k by part i. For example, in Fig. 2, given that the number of 1s in 7,5part part U and 7,6part part U is larger than 6,5part part U and 5,6part part U , respectively, then it can be regarded that the position of Part 7 is determined by constraints with both Part 5 and Part 6, while Part 5 and Part 6 can be fully constrained by constraints between Part 5 and Part 6.We can unite Part 5 and Part 6 as one node in the relation graph, also called a composite node, as shown in Fig. 2b. The composite node will be regarded as a single part, but it is obvious that the composite node implies an assembly sequence.2. Calculate mating directions for all nodes in the relation graph. Again, beginning at the state that the shaft and the hole are assembled, separate the part in one degree of separation by a certain distance (larger than the maximum tolerance), and then check if interference occurs. Separation in both ±x axis and ±y axis of R1 causes the interference between the shaft and the hole. Separation in the +z direction raises no interference. Then, select the +z direction as the mating direction, which is represented as a vector M measured in the coordinate system of the assembly. It should be noted that, in some cases, there may be several possible mating directions for a part. The condition for assembly operation in the mating direction to be ended should be given. When contact occurs between parts in the mating direction at the assembled state, which can be checked simply with geometric constraints, the end condition is measured by force sensory information, whereas position information is used as an end condition.3. Calculate the grasping position. In this paper, parts are handled and manipulated with two separate probes, which will be discussed in the Sect. 4, and planes or edges are considered for grasping. In the case that there are several mating directions, the grasping planes are selected as G1∩G2∩...∩Gi, where Gi is possible grasping plane/edge set for the ith mating direction when the part is at its free state. For example, in Fig. 4, the pair planes P1/P1′, P2/P2′, and P3/P3′ canserve as possible grasping planes, and then the grasping planes are{}{}{}{}1P1/P 2P2/P ,1P1/P 3P3/P ,1P1/P 3P3/P ,2P2/P ,1P1/P 3_2_1_'='''''''=dir mating dir mating dir mating G G GThe approaching direction of the end-effector is selected as the normal vector of the grasping planes. It is obvious that not all points on the grasping plane can be grasped. The following method is used to determine the grasping area. The end-effector, which is modeled as a cuboid, is first added in the CAD model, with the constraint of coplanar or tangential with the grasping plane. Beginning at the edge that is far away from the Base_Part in the mating direction, move the end-effector in the mating direction along the grasping plane until the end-effector is fully in contact with the part, the grasping plane is fully in contact with the end-effector, or a collision occurs. Record the edge and the distance, both of which are measured in the part ’s coordinate system.4. Separate gradually the two parts along the mating direction, while checking interference in the other degrees of separation, until no interference occurs in all of the other degrees of separation. There is obviously a separation distance that assures interference not to occur in every degree of separation. It is called the safe length in that direction. This length is used for the collision-free path calculation, which will be discussed in the following section.2.2 Assembly sequenceSome criteria can be used to search the optimal assembly sequence, such as the mechanical stability of subassemblies, the degree of parallel execution, types of fixtures, etc. But for microassembly, we should pay more attention to one of its most important features, the limited workspace, when selecting the assembly sequence. Microassembly operations are usually conducted and monitored under microscopy, and the workspace for microassembly is very small. The assembly sequence brings much influence on the assembly efficiency. For example, a simple assembly with three parts. In sequence a, part A is first fixed onto part B. In the case that part C cannot be mounted in the workspace at the same time with component AB because of the small workspace, in order to assemble part C with AB, component AB has to be unmounted from the workspace. Then, component C is transported and fixed into the workspace. After that, component AB is transported back into the workspace again. In sequence b, there is no need to unmount any part. Sequence a is obviously inefficient and may cause much uncertainty. In other words, the greater the number of times of unmounting components required by an assembly sequence, the more inefficient the assembly sequence. In this paper, due to the small -workspace feature of microassembly, the number of times necessary for the mounting of parts is selected as the search criteria to find the assembly sequence that has a few a number of times for themounting of parts as possible.This paper proposes the following approach to search the assembly sequence. The relation graph of the assembly is used to search the optimal assembly sequence. Heuristic approaches are adopted in order to reduce the search times:1. Check nodes connected with more than two nodes. If the mating directions of its connected nodes are different, mark them as inactive nodes, whereas mark the same mating directions as active mating direction.2. Select a node that is not an inactive node. Mark the current node as the base node (part). The first base part is fixed on the workspace with the mating direction upside (this is done in the CAD model). Compare the size (e.g., weight or volume) of the base part with its connected parts, which can be done easily by reading the bill of materials (BOM) of the assembly. If the base part is much smaller, then mark it as an inactive node.3. Select a node connected with the base node as an assembly node (part). Check the mating direction if the base node needs to be unmounted from the workspace. If needed, update a variable, say mount++. Reposition the component (note that there may be not only the base part in the workspace; some other parts may have been assembled with the base part) in the workspace so that the mating direction is kept upside.4. In the CAD model, move the assembly part to the base part in the possible mating direction, while checking if interference (collision) occurs. If interference occurs, mark the base node as an inactive node and go to step 2, whereas select the Operation type according to parts’ geometric features. In this step, an Obstacle Box is also computed. The box, which is modeled as a cuboid, includes all parts in the workspace. It is used to calculate the collision-free path to move the assembly part, which will be introduced in the following section. The Obstacle Box is described by a position vector and its width, height, and length.5. Record the assembly sequence with the Operation type, the mating direction, and the grasping position.6. If all nodes have been searched, then mark the first base node as an inactive node and go to step 2. If not, select a node connected with the assembly node. Mark it as an assembly node, and the assembly node is updated as a base node. Check if there is one of the mating directions of the assembly node that is same as the mating direction of the former assembly node. If there is, use the former mating direction in the following steps. Go to step 3.After searching the entire graph, we may have several assembly sequences. Comparing the values of mount, the more efficient one can be selected. If not even one sequence is returned, then users may have to select one manually. If there are N nodes in the relation graph of Fig. 2b, all of which are not classed as inactive node, and each node may have M mating directions, thenit needs M N computations to find all assembly sequences. But because, usually, one part only has one mating direction, and there are some inactive nodes, the computation should be less than M N .It should be noted that, in the above computation, several coordinate systems are involved, such as the coordinates of the assembly sequence, the coordinates of the base part, and the coordinates of the assembly. The relations among the coordinates are represented by a 4×4 transformation matrix, which is calculated based on the assembly CAD model when creating the relations graph. These matrixes are stored with all of the related parts in the database. They are also used in skill decomposition.3 Skill decomposition and execution3.1 Definition of skill primitiveSkill primitives are the interface between the assembly planning and robot control. There have been some definitions on skill primitives. The basic difference among these definitions is the skill ’s complexity and functions that one skill can fulfill. From the point of view of assembly planning, it is obviously better that one skill can fulfill more functions. However, the control of a skill with many functions may become complicated. In the paper, two separate probes, rather than a single probe or parallel jaw gripper, are used to manipulate the part. Even for the grasp operation, the control process is not easy. In addition, for example, moving a part may involve not only the manipulator but also the worktable. Therefore, to simplify the control process, skills defined in the paper do not include many functions.More importantly, the skills should be easily applied to various assembly tasks, that is, the set of skills should have generality to express specific tasks. There should not be overlap among skills. In the paper, a skill primitive for robot control is defined as:()()()()i Attribute i Condition i Attribute i End i Attribute i Start i Attribute i Action i Attribute Si __,__,__,__,_=Attributes_i Information necessary for Si to be executed. They can be classified as required attributes and option attributes, or sensory attributes and CAD-model-driven attributes. The attributes are represented by global variables used in different layers.Action_i Robots ’ actions, which is the basic sensormotion. Many actions are defined in the system, such as Move_Worktable, Move_Probes, Rotation_Worktable, Rotation_Probes, Touch, Insert, Screw, Grasp , etc. For one skill, there is only one Action. Due to the limited space, the details of actions will not be discussed in this paper.Start_i The start state of Action_i , which is measured by sensor values.End_i The end state of Action_i, which is measured by sensor values.Condition_i The condition under which Action_i is executed.From the above definitions, we may find that skill primitives in the paper are robot motions with start state and end state, and that they are executed under specific conditions. Assembly planning in the paper is to generate a sequence of robot actions and to assign values to attributes of these actions.3.2 Skill decompositionSome approaches have been proposed for skill decomposition. This paper presents a novel approach to guide the skill decomposition. As discussed above, in the present paper, a task is to assemble the Assembly_Part with the Base_Part. We define the process from the state that Assembly_Part is at a free state to the state that it is fixed with the Base_Part as the assembly lifecycle of the Assembly_Part. In its assembly lifecycle, the Assembly_Part may be at different assembly states.Here shows a shaft’s states shown as blocks and associated workflows of an insertion task. A workflow consisting of a group of skills pushes forward the Assembly_Part from one state to another state. A workflow is associated with a specific skill generator that is in charge of generating skills. For different assembly tasks, the same workflows may be used, though specific skills generated for different tasks may be different.The system provides default task templates, in which default states are defined. These templates are imported into the system and instantiated after they are associated with the corresponding Assembly_Part. In some cases, some states defined by the default template may be not needed. For example, if the shaft has been placed into the workspace with accurate position, for example, determined by the fixture, then the Free and In_WS states can be removed from the shaft’s assembly lifecycle. The system provides a tool for users to modify these templates or generate their own templates. The tool’s user interface is displayed in.For a workflow, the start state is measured by sensory values, while the target state is calculated based on the CAD model and sensory attributes. According to the start state and the target state, the generator generates a series of skills. Here, we use the Move workflow in as an example to show how skills are generated.After the assembly task (assembly lifecycle) is initiated, the template is read into the Coordinator. For the workflow Move, its start state is Grasped, which implies that the Assembly_Part is grasped by the robot’s end-effector and, obviously, the position of the Assembly_Part is also obtained. Its target state is Adjusted, which is the state immediately before it is to be fixed with the Base_Part. At the Adjusted state, the orientation of the Assembly_Part is determined by the mating direction, while the position is determined by the Safe Length. Thesevalues have been calculated in the task planning layer and are stored in a database. When the task template is imported, these values are read into the memory at Coordinate and transformed into the coordinates of the workspace.There is an important and necessary step that has to be performed in the skill decomposition phase—the generation of a collision-free path. Here, we use a straight-line path, which is simple and easy calculated. Assume that P3 is the position of the Assembly_Part at the Adjusted state and P0 is the position at the Grasped state. The following approach is applied to generate the path:1. Based on the orientation of the Assembly_Part and mating direction, select skills (Rotate_Table or Rotate_Probes) to adjust the orientation of the part and assign values to the attributes of these skills.2. Based on the Obstacle Box, mating direction, real position/orientation of the Assembly_Part, the intermediate positions P1 and P2 need to be calculated.3. For each segment path, verify whether the Move_Table skill (for a large range) or the Move_Probe skill (for a small range) should be used.4. Generate skill lists for each segment and assign values to these skills.3.3 Execution of skillsAfter a group of skills which can promote the part to a specific state are generated, these skills are transferred to the Skill Management model. The system promotesone or several skills into the On Work Skill list and simultaneously dispatches them to the micromanipulator. Once the skill has been completed by the robot, the system removes it from the OnWork Task list and places it into the Completed Task list. After all of these skills have been completed, the state of the part is updated. For some states, skill execution and skill generation can be conducted in parallel. For example, for the Insertion lifecycle, if the part's position information is obtained, skills for the move workflow can be generated parallel with the execution of skills generated for the Grasp workflow.The assembly process is not closed to users. With the proposed skills management list structure, users can monitor and control the assembly process easily. For example, for the adjustment or the error recovery, users can suspend the ongoing skill to input commands directly or move the robot in a manual mode.4 Experiment4.1 Experimental platformThe experimental platform used in the paper. For microassembly operations, the precision and workspace are tradeoffs. In order to acquire both a large workspace and high precision, the two-stage control approach is usually used. These systems usually consist of two different sets of actuators; the coarse one, which is of large workspace but lower precision, and the fine one, which is of small workspace but higher precision. In our system, the large-range coarse motion is provided by a planar motion unit, with a repeatability of 2 μm in the x and y directions, which is driven by two linear sliders made by NSK Ltd. The worktable can also provide a rotation motion around the z axis, which is driven by a stepper motor with a maximum resolution of 0.1°/step.In the manipulator, two separate probes, rather than a single probe or parallel jaw grippers, are used to manipulate the miniature parts. The two probes are fixed onto two stepper motors with a maximum resolution of 0.05°/step. The two motors are then fixed onto the parallel motion mechanism respectively. It is a serial connection of a parallel-hexahedron link and a parallelogram link. When the 1θ,2θ, and 3θ are small enough, the motion of the end-effector can be considered as linear motion.The magnetic actuator to drive the parallel mechanism consists of an air-core coil and a permanent magnet. The permanent magnet is attached to the parallel link, while the coil is fixed onto the base frame. The magnetic levitation is inherently unstable, because it is weak to external disturbances due to its non-contact operation in nature. To minimize the effect of external disturbances, a disturbance-observer-based method is used to control our micromanipulator.Laser displacement sensors are used to directly measure the probe ’s position. The reflector is attached to the endeffector. Nano-force sensors produced by the BL AUTOTEC company are used to measure the forces. The position resolution of the micromanipulator is 1 um. The maximal resolution of the force is 0.8 gf, and the maximal resolution of the torque is 0.5 gfcm. A more detailed explanation on the mechanism of the manipulator can be found. All assembly operations are conducted under a microscope SZCTV BO61 made by the Olympus Company. The image information is captured by a Sharp GPB –K PCI frame grabber, which works at 25 MHz.4.2 ExperimentAn assembly with three components is assembled with the proposed manipulator. It is a wheel of a micromobile robot developed in the authors'lab. The following geometric constraints are defined in the CAD model: collinear between CL_cup and CL_axis , collinear between CL_gear and CL_axis , coplanar between Plane_cup and Plane_gear_1, coplanar between Plane_gear_1 and Plane_axis. According to the above geometric constraints, the three parts construct a loop in the relation graph.The CAD model is created with the commercial software Solidworks 2005, and its API functions are used to develop the assembly planning model. The assembly Information database is developed with Oracle 9.2. Models involved with skill generation are developed with Visual Basic 6.0. The skill-generation models are run withWindows 2000 on an HP workstation with a CPU of 2.0 G Hz and memory of 1.0 GB. Assuming that the positions of parts are available beforehand, it took about 7 min to generate the skill sequence. The generated assembly sequence is to assemble the gear onto the axis, and then assemble the cup onto the axis and the gear.In the assembly operation, the parts are placed on the worktable with special fixtures and then transported into the workspace, so that their initial position and orientation can be assured. Therefore, in the experiment, all of the skill sequences for the different parts can be generated and then transferred to the Skill Management unit. The skill istransmitted to the micromanipulator through TCP/IP communication. Because the controller of the micromanipulator is run on DOS, the WTTCP tools kit are adopted to develop the TCP/IP communication protocol.Because, currently, the automated control of the fixtures is not realized yet, the parts have to be fixed manually onto the worktable. The promotion between different tasks(assembly lifecycle of different parts) is conducted manually. Here shows some screenshots of the assembly process. In a, the axis is fixed in the workspace; in b, the gear is fixed in the workspace; from c to e, the gear is grasped, moved, and fixed onto the axis by the probes; in f, the cup is fixed in the workspace; from g to i, the cup is fixed with the gear and the axis. It can be found that the proposed system can perform the assembly successfully.5 ConclusionThis paper has introduced a skill-based manipulation system. The skill sequences are generated based on a computer-aided design (CAD) model. By searching the assembly tree and mate trees, an assembly graph is constructed. The paper proposes the approach to calculate the mating directions and grasping position based on the geometric constraints that define relations between different parts. Because the workspace of the micromanipulator is very small, the assembly sequence brings much influence on the assembly sequence. In the present paper, the number of required times of mounting parts in the workspace is selected as the criterion to select the optimal skill sequence.This paper presents a method to guide the skill decomposition. The assembly process is divided into different phases. In one phase, the part is at an assembly state. A specific workflow pushes the part forwards to its target state, which is the next desired state of the part in the。

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 rapidprogress 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 realized the 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 plastic holding 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 costand 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 and dynamics 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 important component 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 currentmotors, 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 pr ocess of crawling and moving piece features automatic device, wh ich is mechanized and automated production process developed a n ew type of device. In recent years, as electronic technology, e specially computer extensive use of robot development and product ion of hightech fields has become a rapidly developed a new te chnology, which further promoted the development of robot, allowi ng robot to better achieved with the combination of mechanizatio n and automation. Robot can replace humans completed the risk o f duplication of boring work, to reduce human labor intensity a nd improve labor productivity. Manipulator has been applied more and more widely, in the machinery industry, it can be used f or parts assembly, work piece handling, loading and unloading, p articularly in the automation of CNC machine tools, modular mach ine tools more commonly used. At present, the robot has develop ed into a FMS flexible manufacturing systems and flexible manufa cturing cell in an important component of the FMC. The machine tool equipment and machinery in hand together constitute a fle xible manufacturing system or a flexible manufacturing cell, it was adapted to small and medium volume production, you can savea huge amount of the work piece conveyor device, compact, and adaptable. When the work piece changes, flexible production sys tem is very easy to change will help enterprises to continuousl y update the marketable variety, improve product quality, and be tter adapt to market competition. At present, China's industrial robot technology and its engineering application level and comp arable to foreign countries there is a certain distance, applica tion and industrialization of the size of the low level of rob ot research and development of a direct impact on raising the level of automation in China, from the economy, technical consid erations are very necessary. Therefore, the study of mechanical hand design is very meaningful.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，随着经济技术的发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发展，出现了各种各样的机器人产品。

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。

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。

机械手外文文献及翻译

EnglishRobot developed in recent decades as high—tech automated production equipment。

Industrial robot is an important branch of industrial robots。

It features can be programmed to perform tasks in a variety of expectations， in both structure and performance advantages of their own people and machines， in particular， reflects the people's intelligence and adaptability。

The accuracy of robot operations and a variety of environments the ability to complete the work in the field of national economy and there are broad prospects for development. With the development of industrial automation, there has been CNC machining center, it is in reducing labor intensity, while greatly improved labor productivity。

However, the upper and lower common in CNC machining processes material，usually still use manual or traditional relay—controlled semi-automatic device。