机械臂的外文文献以及翻译

合集下载

多自由度机械手毕业论文中英文资料外文翻译文献

毕业论文中英文资料外文翻译文献专业机械设计制造及其自动化课题多自由度机械手机械设计英文原文Automated Tracking and Grasping of a Moving Object with a RoboticHand-Eye SystemAbstractMost robotic grasping tasks assume a stationary or fixed object. In this paper, we explore the requirements for tracking and grasping a moving object. The focus of our work is to achieve a high level of interaction between a real-time vision system capable of tracking moving objects in 3-D and a robot arm with gripper that can be used to pick up a moving object. There is an interest in exploring the interplay of hand-eye coordination for dynamic grasping tasks such as grasping of parts on a moving conveyor system, assembly of articulated parts, or for grasping from a mobile robotic system. Coordination between an organism's sensing modalities and motor control system is a hallmark of intelligent behavior, and we are pursuing the goal of building an integrated sensing and actuation system that can operate in dynamic as opposed to static environments.The system we have built addresses three distinct problems in robotic hand-eye coordination for grasping moving objects: fast computation of 3-D motion parameters from vision, predictive control of a moving robotic arm to track a moving object, and interception and grasping. The system is able to operate at approximately human arm movement rates, and experimental results in which a moving model train is tracked is presented, stably grasped, and picked up by the system. The algorithms we have developed that relate sensing to actuation are quite general and applicable to a variety of complex robotic tasks that require visual feedback for arm and hand control.I. INTRODUCTIONThe focus of our work is to achieve a high level of interaction between real-time vision systems capable of tracking moving objects in 3-D and a robot arm equipped with a dexterous hand that can be used to intercept, grasp, and pick up a movingobject. We are interested in exploring the interplay of hand-eye coordination for dynamic grasping tasks such as grasping of parts on a moving conveyor system, assembly of articulated parts, or for grasping from a mobile robotic system. Coordination between an organism's sensing modalities and motor control system is a hallmark of intelligent behavior, and we are pursuing the goal of building an integrated sensing and actuation system that can operate in dynamic as opposed to static environments.There has been much research in robotics over the last few years that address either visual tracking of moving objects or generalized grasping problems. However, there have been few efforts that try to link the two problems. It is quite clear that complex robotic tasks such as automated assembly will need to have integrated systems that use visual feedback to plan, execute, and monitor grasping.The system we have built addresses three distinct problems in robotic hand-eye coordination for grasping moving objects: fast computation of 3-D motion parameters from vision, predictive control of a moving robotic arm to track a moving object, and interception and grasping. The system is able to operate at approximately human arm movement rates, using visual feedback to track, intercept, stably grasp, and pick up a moving object. The algorithms we have developed that relate sensing to actuation are quite general and applicable to a variety of complex robotic tasks that require visual feedback for arm and hand control.Our work also addresses a very fundamental and limiting problem that is inherent in building integrated sensing actuation systems; integration of systems with different sampling and processing rates. Most complex robotic systems are actually amalgams of different processing devices, connected by a variety of methods. For example, our system consists of three separate computation systems: a parallel image processing computer; a host computer that filters, triangulates, and predicts 3-D position from the raw vision data; and a separate arm control system computer that performs inverse kinematic transformations and joint-level servicing. Each of these systems has its own sampling rate, noise characteristics, and processing delays, which need to be integrated to achieve smooth and stable real-time performance. In our case, this involves overcoming visual processing noise and delays with a predictive filter basedupon a probabilistic analysis of the system noise characteristics. In addition, real-time arm control needs to be able to operate at fast servo rates regardless of whether new predictions of object position are available.The system consists of two fixed cameras that can image a scene containing a moving object (Fig. 1). A PUMA-560 with a parallel jaw gripper attached is used to track and pick up the object as it moves (Fig. 2). The system operates as follows:1) The imaging system performs a stereoscopic optic-flow calculation at each pixel in the image. From these optic-flow fields, a motion energy profile is obtained that forms the basis for a triangulation that can recover the 3-D position of a moving object at video rates.2) The 3-D position of the moving object computed by step 1 is initially smoothed to remove sensor noise, and a nonlinear filter is used to recover the correct trajectory parameters which can be used for forward prediction, and the updated position is sent to the trajectory-planner/arm-control system.3) The trajectory planner updates the joint-level servos of the arm via kinematic transform equations. An additional fixed-gain filter is used to provide servo-level control in case of missed or delayed communication from the vision and filtering system.4) Once tracking is stable, the system commands the arm to intercept the moving object and the hand is used to grasp the object stably and pick it up.The following sections of the paper describe each of these subsystems in detail along with experimental results.П. PREVIOUS WORKPrevious efforts in the areas of motion tracking and real-time control are too numerous to exhaustively list here. We instead list some notable efforts that have inspired us to use similar approaches. Burt et al. [9] have focused on high-speed feature detection and hierarchical scaling of images in order to meet the real-time demands of surveillance and other robotic applications. Related work has been reported by. Lee and Wohn [29] and Wiklund and Granlund [43] who uses image differencing methods to track motion. Corke, Paul, and Wohn [13] report afeature-based tracking method that uses special-purpose hardware to drive a servocontroller of an arm-mounted camera. Goldenberg et al. [16] have developed a method that uses temporal filtering with vision hardware similar to our own. Luo, Mullen, and Wessel [30] report a real-time implementation of motion tracking in 1-D based on Horn and Schunk’s method. Vergheseetul. [41] Report real-time short-range visual tracking of objects using a pipelined system similar to our own. Safadi [37] uses a tracking filter similar to our own and a pyramid-based vision system, but few results are reported with this system. Rao and Durrant-Whyte [36] have implemented a Kalman filter-based decentralized tracking system that tracks moving objects with multiple cameras. Miller [31] has integrated a camera and arm for a tracking task where the emphasis is on learning kinematic and control parameters of the system. Weiss et al. [42] also use visual feedback to develop control laws for manipulation. Brown [8] has implemented a gaze control system that links a robotic “head” containing binocular cameras with a servo controller that allows one to maintain a fixed gaze on a moving object. Clark and Ferrier [12] also have implemented a gaze control system for a mobile robot. A variation of the tracking problems is the case of moving cameras. Some of the papers addressing this interesting problem are [9], [15], [44], and [18].The majority of literature on the control problems encountered in motion tracking experiments is concerned with the problem of generating smooth, up-to-date trajectories from noisy and delayed outputs from different vision algorithms.Our previous work [4] coped with that problem in a similar way as in [38], using an cy- p - y filter, which is a form of steady-state Kalman filter. Other approaches can be found in papers by [33], [34], [28], [6]. In the work of Papanikolopoulos et al. [33], [34], visual sensors are used in the feedback loop to perform adaptive robotic visual tracking. Sophisticated control schemes are described which combine a Kalman filter’s estimation and filtering power with an optimal (LQG) controller which computes the robot’s motion. The vision system uses an optic-flow computation based on the SSD (sum of squared differences) method which, while time consuming, appears to be accurate enough for the tracking task. Efficient use of windows in the image can improve the performance of this method. The authors have presented good tracking results, as well as stated that the controller is robust enough so the use ofmore complex (time-varying LQG) methods is not justified. Experimental results with the CMU Direct Drive Arm П show that the methods are quite accurate, robust, and promising.The work of Lee and Kay [28] addresses the problem of uncertainty of cameras in the robot’s coordinate frame. The fact that cameras have to be strictly fixed in robot’s frame might be quite annoying since each time they are (most often incidentally) displaced; one has to undertake a tedious job of their recalibration. Again, the estimation of the moving object’s position and orientation is done in the Cartesian space and a simple error model is assumed. Andersen et al. [6] adopt a 3rd-order Kalman filter in order to allow a robotic system (consisting of two degrees of freedom) to play the labyrinth game. A somewhat different approach has been explored in the work of Houshangi [24] and Koivo et al. [27]. In these works, the autoregressive (AR) and auto grassier moving-average with exogenous input (ARMAX) models are investigated for visual tracking.Ш. VISION SYSTEMIn a visual tracking problem, motion in the imaging system has to be translated into 3-D scene motion. Our approach is to initially compute local optic-flow fields that measure image velocity at each pixel in the image. A variety of techniques for computing optic-flow fields have been used with varying results includingmatching-based techniques [5], [ 10], [39], gradient-based techniques [23], [32], [ 113, and patio-temporal, energy methods [20], [2]. Optic-flow was chosen as the primitive upon which to base the tracking algorithm for the following reasons.·The ability to track an object in three dimensions implies that there will be motion across the retinas (image planes) that are imaging the scene. By identifying this motion in each camera, we can begin to find the actual 3-D motion.·The principal constraint in the imaging process is high computational speed to satisfy the update process for the robotic arm parameters. Hence, we needed to be able to compute image motion quickly and robustly. The Hom-Schunck optic-flow algorithm (described below) is well suited for real-time computation on our PIPE image processing engine.·We have developed a new framework for computing optic-flow robustly using anestimation-theoretic framework [40]. While this work does not specifically use these ideas, we have future plans to try to adapt this algorithm to such a framework.Our method begins with an implementation of the Horn-Schunck method of computing optic-flow [22]. The underlying assumption of this method is theoptic-flow constraint equation, which assumes image irradiance at time t and t+σt will be the same:If we expand this constraint via a Taylor series expansion, and drop second- and higher-order terms, we obtain the form of the constraint we need to compute normal velocity:Where u and U are the velocities in image space, and Ix, Iy,and It are the spatial and temporal derivatives in the image. This constraint limits the velocity field in an image to lie on a straight line in velocity space. The actual velocity cannot be determined directly from this constraint due to the aperture problem, but one can recover the component of velocity normal to this constraint lineA second, iterative process is usually employed to propagate velocities in image neighborhoods, based upon a variety of smoothness and heuristic constraints. These added neighborhood constraints allow for recovery of the actual velocities u,v in the image. While computationally appealing, this method of determining optic-flow has some inherent problems. First, the computation is done on a pixel-by-pixel basis, creating a large computational demand. Second, the information on optic flow is only available in areas where the gradients defined above exist.We have overcome the first of these problems by using the PIPE image processor [26], [7]. The PIPE is a pipelined parallel image processing computer capable of processing 256 x 256 x 8 bit images at frame rate speeds, and it supports the operations necessary for optic-flow computation in a pixel parallel method (a typical image operation such as convolution, warping, addition subtraction of images can be done in one cycle-l/60 s).The second problem is alleviated by our not needing to know the actual velocities in the image. What we need is the ability to locate and quantify gross image motion robustly. This rules out simple differencing methodswhich are too prone to noise and will make location of image movement difficult. Hence, a set of normal velocities at strong gradients is adequate for our task, precluding the need to iteratively propagate velocities in the image.A. Computing Normal Optic-Flow in Real-TimeOur goal is to track a single moving object in real time. We are using two fixed cameras that image the scene and need to report motion in 3-D to a robotic arm control program. Each camera is calibrated with the 3-D scene, but there is no explicit need to use registered (i.e., scan-line coherence) cameras. Our method computes the normal component of optic-flow for each pixel in each camera image, finds a centurion of motion energy for each image, and then uses triangulation to intersect the back-projected centurions of image motion in each camera. Four processors are used in parallel on the PIPE. The processors are assigned as four per camera-two each for the calculation of X and Y motion energy centurions in each image. We also use a special processor board (ISMAP) to perform real-time histogram. The steps below correspond to the numbers in Fig. 3.1) The camera images the scene and the image is sent to processing stages in the PIPE.2) The image is smoothed by convolution with a Gaussian mask. The convolution operator is a built-in operation in the PIPE and it can be performed in one frame cycle. 3-4) In the next two cycles, two more images are read in, smoothed and buffered, yielding smoothed images Io and I1 and I2.The ability to buffer and pipeline images allows temporal operations on images, albeit at the cost of processing delays (lags) on output. There are now three smoothed images in the PIPE, with the oldest image lagging by 3/60 s.5) Images Io and I2, are subtracted yielding the temporal derivative It.6) In parallel with step 5, image I1is convolved with a 3 x 3 horizontal spatial gradient operator, returning the discrete form of I,. In parallel, the vertical spatial gradient is calculated yielding I, (not shown).7-8)The results from steps 5 and 6 are held in buffers and then are input to alook-up table that divides the temporal gradient at each pixel by the absolute value of the summed horizontal and vertical spatial gradients [which approximates thedenominator in (3)]. This yields the normal velocity in the image at each pixel. These velocities are then threshold and any isolated (i.e., single pixel motion energy) blobs are morphologically eroded. The above threshold velocities are then encoded as gray value 255. In our experiments, we threshold all velocities below 10 pixels per 60 ms to zero velocity.9-10) In order to get the centurion of the motion information, we need the X and Y coordinates of the motion energy. For simplicity, we show only the situation for the X coordinate. The gray-value ramp in Fig. 3 is an image that encodes the horizontal coordinate value (0-255) for each point in the image as a gray value.Thus, it is an image that is black (0) at horizontal pixel 0 and white (255) at horizontal pixel 255. If we logically and each pixel of the above threshold velocity image with the ramp image, we have an image which encodes high velocity pixels with their positional coordinates in the image, and leaves pixels with no motion at zero.11) By taking this result and histogram it, via a special stage of the PIPE which performs histograms at frame rate speeds, we can find the centurion of the moving object by finding the mean of the resulting histogram. Histogram the high-velocity position encoded images yields 256 16-bit values (a result for each intensity in the image). These 256 values can be read off the PIPE via a parallel interface in about 10 ms. This operation is performed in parallel to find the moving object’s Y censored (and in parallel for X and Y centurions for camera 2). The total associated delay time for finding the censored of a moving object becomes 15 cycles or 0.25 s.The same algorithm is run in parallel on the PIPE for the second camera. Once the motion centurions are known for each camera, they are back-projected into the scene using the camera calibration matrices and triangulated to find the actual 3-D location of the movement. Because of the pipelined nature of the PIPE, a new X or Y coordinate is produced every 1/60 s with this delay. While we are able to derive 3-D position from motion stereo at real-time rates, there are a number of sources of noise and error inherent in the vision system. These include stereo triangulation error, moving shadow s which are interpreted as object motion (we use no special lighting in the scene), and small shifts in censored alignments due to the different viewing angles of the cameras, which have a large baseline. The net effect of this is to create a 3-Dposition signal that is accurate enough for gross-level object tracking, but is not sufficient for the smooth and highly accurate tracking required for grasping the object.英文翻译自动跟踪和捕捉系统中的机械手系统摘要——许多机器人抓捕任务都被假设在了一个固定的物体上进行。

机械手设计英文参考文献原文翻译

翻译人：王墨墨山东科技大学文献题目：Automated Calibration of Robot Coordinatesfor Reconfigurable Assembly Systems翻译正文如下：针对可重构装配系统的机器人协调性的自动校准T.艾利，Y.米达，H.菊地，M.雪松日本东京大学，机械研究院，精密工程部摘要为了实现流水工作线更高的可重构性，以必要设备如机器人的快速插入插出为研究目的。

当一种新的设备被装配到流水工作线时，应使其具备校准系统。

该研究使用两台电荷耦合摄像机，基于直接线性变换法，致力于研究一种相对位置/相对方位的自动化校准系统。

摄像机被随机放置，然后对每一个机械手执行一组动作。

通过摄像机检测机械手动作，就能捕捉到两台机器人的相对位置。

最佳的结果精度为均方根值0.16毫米。

关键词：装配，校准，机器人1 介绍21世纪新的制造系统需要具备新的生产能力，如可重用性，可拓展性，敏捷性以及可重构性[1]。

系统配置的低成本转变，能够使系统应对可预见的以及不可预见的市场波动。

关于组装系统，许多研究者提出了分散的方法来实现可重构性[2][3]。

他们中的大多数都是基于主体的系统，主体逐一协同以建立一种新的配置。

然而，协同只是目的的一部分。

在现实生产系统中，例如工作空间这类物理问题应当被有效解决。

为了实现更高的可重构性，一些研究人员不顾昂贵的造价，开发出了特殊的均匀单元[4][5][6]。

作者为装配单元提出了一种自律分散型机器人系统，包含多样化的传统设备[7][8]。

该系统可以从一个系统添加/删除装配设备，亦或是添加/删除装配设备到另一个系统；它通过协同作用，合理地解决了工作空间的冲突问题。

我们可以把该功能称为“插入与生产”。

在重构过程中，校准的装配机器人是非常重要的。

这是因为，需要用它们来测量相关主体的特征，以便在物理主体之间建立良好的协作关系。

这一调整必须要达到表1中所列到的多种标准要求。

机械手臂外文文献翻译、中英文翻译、外文翻译

外文出处：《Manufacturing Engineering and Technology—Machining》附件1：外文原文ManipulatorRobot developed in recent decades as high-tech automated production equipment. I ndustrial robot is an important branch of industrial robots. It features can be program med to perform tasks in a variety of expectations, in both structure and performance a dvantages of their own people and machines, in particular, reflects the people's intellig ence and adaptability. The accuracy of robot operations and a variety of environments the ability to complete the work in the field of national economy and there are broad p rospects for development. With the development of industrial automation, there has be en CNC machining center, it is in reducing labor intensity, while greatly improved lab or productivity. However, the upper and lower common in CNC machining processes material, usually still use manual or traditional relay-controlled semi-automatic device . The former time-consuming and labor intensive, inefficient; the latter due to design c omplexity, require more relays, wiring complexity, vulnerability to body vibration inte rference, while the existence of poor reliability, fault more maintenance problems and other issues. Programmable Logic Controller PLC-controlled robot control system for materials up and down movement is simple, circuit design is reasonable, with a stron g anti-jamming capability, ensuring the system's reliability, reduced maintenance rate, and improve work efficiency. Robot technology related to mechanics, mechanics, elec trical hydraulic technology, automatic control technology, sensor technology and com puter technology and other fields of science, is a cross-disciplinary integrated technol ogy.First, an overview of industrial manipulatorRobot is a kind of positioning control can be automated and can be re-programmed to change in multi-functional machine, which has multiple degrees of freedom can be used to carry an object in order to complete the work in different environments. Low wages in China, plastic products industry, although still a labor-intensive, mechanical hand use has become increasingly popular. Electronics and automotive industries thatEurope and the United States multinational companies very early in their factories in China, the introduction of automated production. But now the changes are those found in industrial-intensive South China, East China's coastal areas, local plastic processin g plants have also emerged in mechanical watches began to become increasingly inter ested in, because they have to face a high turnover rate of workers, as well as for the workers to pay work-related injuries fee challenges.With the rapid development of China's industrial production, especially the reform and opening up after the rapid increase in the degree of automation to achieve the wor kpiece handling, steering, transmission or operation of brazing, spray gun, wrenches a nd other tools for processing and assembly operations since, which has more and mor e attracted our attention. Robot is to imitate the manual part of the action, according to a given program, track and requirements for automatic capture, handling or operation of the automatic mechanical devices.In real life, you will find this a problem. In the machine shop, the processing of part s loading time is not annoying, and labor productivity is not high, the cost of producti on major, and sometimes man-made incidents will occur, resulting in processing were injured. Think about what could replace it with the processing time of a tour as long a s there are a few people, and can operate 24 hours saturated human right? The answer is yes, but the robot can come to replace it.Production of mechanical hand can increase the automation level of production and labor productivity; can reduce labor intensity, ensuring product quality, to achieve saf e production; particularly in the high-temperature, high pressure, low temperature, lo w pressure, dust, explosive, toxic and radioactive gases such as poor environment can replace the normal working people. Here I would like to think of designing a robot to be used in actual production.Why would a robot designed to provide a pneumatic power: pneumatic robot refers to the compressed air as power source-driven robot. With pressure-driven and other en ergy-driven comparison have the following advantages: 1. Air inexhaustible, used late r discharged into the atmosphere, does not require recycling and disposal, do not pollu te the environment. (Concept of environmental protection) 2. Air stick is small, the pipeline pressure loss is small (typically less than asphalt gas path pressure drop of one-thousandth), to facilitate long-distance transport. 3. Compressed air of the working pre ssure is low (usually 4 to 8 kg / per square centimeter), and therefore moving the mate rial components and manufacturing accuracy requirements can be lowered. 4. With th e hydraulic transmission, compared to its faster action and reaction, which is one of th e advantages pneumatic outstanding. 5. The air cleaner media, it will not degenerate, n ot easy to plug the pipeline. But there are also places where it fly in the ointment: 1. A s the compressibility of air, resulting in poor aerodynamic stability of the work, resulti ng in the implementing agencies as the precision of the velocity and not easily control led. 2. As the use of low atmospheric pressure, the output power can not be too large; i n order to increase the output power is bound to the structure of the entire pneumatic s ystem size increased.With pneumatic drive and compare with other energy sources drive has the followin g advantages:Air inexhaustible, used later discharged into the atmosphere, without recycling and disposal, do not pollute the environment. Accidental or a small amount of leakage wo uld not be a serious impact on production. Viscosity of air is small, the pipeline pressu re loss also is very small, easy long-distance transport.The lower working pressure of compressed air, pneumatic components and therefor e the material and manufacturing accuracy requirements can be lowered. In general, re ciprocating thrust in 1 to 2 tons pneumatic economy is better.Compared with the hydraulic transmission, and its faster action and reaction, which is one of the outstanding merits of pneumatic.Clean air medium, it will not degenerate, not easy to plug the pipeline. It can be saf ely used in flammable, explosive and the dust big occasions. Also easy to realize auto matic overload protection.Second, the composition, mechanical handRobot in the form of a variety of forms, some relatively simple, some more complic ated, but the basic form is the same as the composition of the , Usually by the implem enting agencies, transmission systems, control systems and auxiliary devices composed.1.Implementing agenciesManipulator executing agency by the hands, wrists, arms, pillars. Hands are crawlin g institutions, is used to clamp and release the workpiece, and similar to human finger s, to complete the staffing of similar actions. Wrist and fingers and the arm connecting the components can be up and down, left, and rotary movement. A simple mechanical hand can not wrist. Pillars used to support the arm can also be made mobile as needed .2. TransmissionThe actuator to be achieved by the transmission system. Sub-transmission system c ommonly used manipulator mechanical transmission, hydraulic transmission, pneuma tic and electric power transmission and other drive several forms.3. Control SystemManipulator control system's main role is to control the robot according to certain p rocedures, direction, position, speed of action, a simple mechanical hand is generally not set up a dedicated control system, using only trip switches, relays, control valves a nd circuits can be achieved dynamic drive system control, so that implementing agenc ies according to the requirements of action. Action will have to use complex program mable robot controller, the micro-computer control.Three, mechanical hand classification and characteristicsRobots are generally divided into three categories: the first is the general machinery does not require manual hand. It is an independent not affiliated with a particular host device. It can be programmed according to the needs of the task to complete the oper ation of the provisions. It is characterized with ordinary mechanical performance, also has general machinery, memory, intelligence ternary machinery. The second category is the need to manually do it, called the operation of aircraft. It originated in the atom, military industry, first through the operation of machines to complete a particular job, and later developed to operate using radio signals to carry out detecting machines suc h as the Moon. Used in industrial manipulator also fall into this category. The third cat egory is dedicated manipulator, the main subsidiary of the automatic machines or automatic lines, to solve the machine up and down the workpiece material and delivery. T his mechanical hand in foreign countries known as the "Mechanical Hand", which is t he host of services, from the host-driven; exception of a few outside the working proc edures are generally fixed, and therefore special.Main features:First, mechanical hand (the upper and lower material robot, assembly robot, handlin g robot, stacking robot, help robot, vacuum handling machines, vacuum suction crane, labor-saving spreader, pneumatic balancer, etc.).Second, cantilever cranes (cantilever crane, electric chain hoist crane, air balance th e hanging, etc.)Third, rail-type transport system (hanging rail, light rail, single girder cranes, doubl e-beam crane)Four, industrial machinery, application of handManipulator in the mechanization and automation of the production process develo ped a new type of device. In recent years, as electronic technology, especially comput er extensive use of robot development and production of high-tech fields has become a rapidly developed a new technology, which further promoted the development of ro bot, allowing robot to better achieved with the combination of mechanization and auto mation.Although the robot is not as flexible as staff, but it has to the continuous duplication of work and labor, I do not know fatigue, not afraid of danger, the power snatch weig ht characteristics when compared with manual large, therefore, mechanical hand has b een of great importance to many sectors, and increasingly has been applied widely, for example:(1) Machining the workpiece loading and unloading, especially in the automatic lat he, combination machine tool use is more common.(2) In the assembly operations are widely used in the electronics industry, it can be used to assemble printed circuit boards, in the machinery industry It can be used to ass emble parts and components.(3) The working conditions may be poor, monotonous, repetitive easy to sub-fatigue working environment to replace human labor.(4) May be in dangerous situations, such as military goods handling, dangerous go ods and hazardous materials removal and so on..(5) Universe and ocean development.(6), military engineering and biomedical research and testing.Help mechanical hands: also known as the balancer, balance suspended, labor-saving spreader, manual Transfer machine is a kind of weightlessness of manual load system, a novel, time-saving technology for material handling operations booster equipment, belonging to kinds of non-standard design of series products. Customer application ne eds, creating customized cases. Manual operation of a simulation of the automatic ma chinery, it can be a fixed program draws ﹑ handling objects or perform household to ols to accomplish certain specific actions. Application of robot can replace the people engaged in monotonous ﹑ repetitive or heavy manual labor, the mechanization and a utomation of production, instead of people in hazardous environments manual operati on, improving working conditions and ensure personal safety. The late 20th century, 4 0, the United States atomic energy experiments, the first use of radioactive material ha ndling robot, human robot in a safe room to manipulate various operations and experi mentation. 50 years later, manipulator and gradually extended to industrial production sector, for the temperatures, polluted areas, and loading and unloading to take place t he work piece material, but also as an auxiliary device in automatic machine tools, ma chine tools, automatic production lines and processing center applications, the comple tion of the upper and lower material, or From the library take place knife knife and so on according to fixed procedures for the replacement operation. Robot body mainly b y the hand and sports institutions. Agencies with the use of hands and operation of obj ects of different occasions, often there are clamping ﹑ support and adsorption type of care. Movement organs are generally hydraulic pneumatic ﹑﹑ electrical device dri vers. Manipulator can be achieved independently retractable ﹑ rotation and lifting m ovements, generally 2 to 3 degrees of freedom. Robots are widely used in metallurgic al industry, machinery manufacture, light industry and atomic energy sectors.Can mimic some of the staff and arm motor function, a fixd procedure for the capture, handling objects or operating tools, automatic operation device. It can replace hum an labor in order to achieve the production of heavy mechanization and automation th at can operate in hazardous environments to protect the personal safety, which is wide ly used in machinery manufacturing, metallurgy, electronics, light industry and nuclea r power sectors. Mechanical hand tools or other equipment commonly used for additio nal devices, such as the automatic machines or automatic production line handling an d transmission of the workpiece, the replacement of cutting tools in machining centers , etc. generally do not have a separate control device. Some operating devices require direct manipulation by humans; such as the atomic energy sector performs household hazardous materials used in the master-slave manipulator is also often referred to as m echanical hand.Manipulator mainly by hand and sports institutions. Task of hand is holding the wor kpiece (or tool) components, according to grasping objects by shape, size, weight, mat erial and operational requirements of a variety of structural forms, such as clamp type, type and adsorption-based care such as holding. Sports organizations, so that the com pletion of a variety of hand rotation (swing), mobile or compound movements to achie ve the required action, to change the location of objects by grasping and posture. Robot is the automated production of a kind used in the process of crawling and mo ving piece features automatic device, which is mechanized and automated production process developed a new type of device. In recent years, as electronic technology, esp ecially computer extensive use of robot development and production of high-tech fiel ds has become a rapidly developed a new technology, which further promoted the dev elopment of robot, allowing robot to better achieved with the combination of mechani zation and automation. Robot can replace humans completed the risk of duplication of boring work, to reduce human labor intensity and improve labor productivity. Manipu lator has been applied more and more widely, in the machinery industry, it can be use d for parts assembly, work piece handling, loading and unloading, particularly in the a utomation of CNC machine tools, modular machine tools more commonly used. At pr esent, the robot has developed into a FMS flexible manufacturing systems and flexibl e manufacturing cell in an important component of the FMC. The machine tool equipment and machinery in hand together constitute a flexible manufacturing system or a f lexible manufacturing cell, it was adapted to small and medium volume production, y ou can save a huge amount of the work piece conveyor device, compact, and adaptabl e. When the work piece changes, flexible production system is very easy to change wi ll help enterprises to continuously update the marketable variety, improve product qua lity, and better adapt to market competition. At present, China's industrial robot techno logy and its engineering application level and comparable to foreign countries there is a certain distance, application and industrialization of the size of the low level of robo t research and development of a direct impact on raising the level of automation in Ch ina, from the economy, technical considerations are very necessary. Therefore, the stu dy of mechanical hand design is very meaningful.附件1：外文资料翻译译文机械手机械手是近几十年发展起来的一种高科技自动化生产设备。

有关助力机械臂的参考文献

助力机械臂是一种具备力传感和力反馈功能的机械臂。

它通过感知外界环境的力信息，并根据力指令，实现对机械臂的辅助力控制和力反馈。

助力机械臂在工业制造、康复医疗、协作机器人等领域具有广泛的应用前景。

本文将介绍助力机械臂的相关参考文献，并对其研究内容和应用进行概述。

1.Dai J. et al., “Design and control of a lower limb exoskeleton for robot-assisted gait training,” IEEE Transactions on Mechatronics, vol. 23, no. 3,pp. 1259-1270, June 2018. 该文研究了一种用于机器人辅助步态训练的下肢外骨骼的设计和控制。

该外骨骼结合了助力机械臂的设计理念，可以对患者的下肢进行辅助力控制和力反馈，提高步态训练的效果。

2.Battaglia E. et al., “Design and control of a robotic exoskeleton forupper limb rehabilitation,” R obotics and Autonomous Systems, vol. 94, pp. 13-24, May 2017. 该文介绍了一种用于上肢康复的机器人外骨骼的设计和控制。

该外骨骼采用助力机械臂技术，通过力传感器感知患者的手臂力信息，并通过控制算法实现对手臂的辅助力控制，促进上肢康复训练。

3.Zhao G. et al., “Design and control of an upper limb exoskeleton forrehabilitation,” IEEE Transactions on Neural Systems and RehabilitationEngineering, vol. 27, no. 5, pp. 866-875, May 2019. 该文研究了一种用于上肢康复训练的上肢外骨骼的设计和控制。

机械手臂应用领域的外文文献以及翻译

机械手臂应用领域的外文文献以及翻译1. Introduction机械手臂是一种用于执行各种任务的自动化设备，其应用领域广泛。

本文档提供了一些关于机械手臂应用领域的外文文献，并附有简要的翻译。

2. 文献1: "Advancements in Robotic Arm Control Systems"- Author: John Smith- Published: 2020这篇文献详细介绍了机械手臂控制系统的最新进展。

作者讨论了各种控制算法、传感器和执行器的应用，以提高机械手臂的性能和精确度。

3. 文献2: "Applications of Robotic Arms in Manufacturing Industry"- Author: Emily Chen- Published: 2018作者在这篇文献中研究了机械手臂在制造业中的应用。

她列举了多个实例，包括机械手臂在装配、焊接和搬运等任务中的应用，以及通过使用机械手臂能够提高生产效率和质量的案例。

4. 文献3: "Robot-Assisted Surgery: The Future of Medical Industry"- Author: David Johnson- Published: 2019这篇文献探讨了机械手臂在医疗行业中的应用，特别是机器人辅助外科手术。

作者解释了机械手臂在手术过程中的优势，包括更小的切口、更高的精确度和减少术后恢复时间等方面。

5. 文献4: "Exploring the Potential of Robotic Arms in Agriculture"- Author: Maria Rodriguez- Published: 2021这篇文献研究了机械手臂在农业领域的潜力。

作者探讨了机械手臂在种植、收割和除草等农业任务中的应用，以及如何通过机械化技术改善农业生产的效率和可持续性。

工业机器人中英文翻译、外文文献翻译、外文翻译

工业机器人中英文翻译、外文文献翻译、外文翻译外文原文：RobotAfter more than 40 years of development, since its first appearance till now, the robot has already been widely applied in every industrial fields, and it has become the important standard of industry modernization.Robotics is the comprehensive technologies that combine with mechanics, electronics, informatics and automatic control theory. The level of the robotic technology has already been regarded as the standard of weighing a national modern electronic-mechanical manufacturing technology.Over the past two decades, the robot has been introduced into industry to perform many monotonous and often unsafe operations. Because robots can perform certain basic more quickly and accurately than humans, they are being increasingly used in various manufacturing industries.With the maturation and broad application of net technology, the remote control technology of robot based on net becomes more and more popular in modern society. It employs the net resources in modern society which are already three to implement the operatio of robot over distance. It also creates many of new fields, such as remote experiment, remote surgery, and remote amusement. What's more, in industry, it can have a beneficial impact upon the conversion of manufacturing means.The key words are reprogrammable and multipurpose because most single-purpose machines do not meet these two requirements. The term “reprogrammable” implies two things: The robot operates according to a written program, and this program can be rewritten to accommodate a variety of manufacturing tasks. The term “multipurpose” means that the robot can perform many different functions, depending on the program and tooling currently in use.Developed from actuating mechanism, industrial robot can imitation some actions and functions of human being, which can be used to moving all kinds of material components tools and so on, executing mission by execuatable program multifunctionmanipulator. It is extensive used in industry and agriculture production, astronavigation and military engineering.During the practical application of the industrial robot, the working efficiency and quality are important index of weighing the performance of the robot. It becomes key problems which need solving badly to raise the working efficiencies and reduce errors of industrial robot in operating actually. Time-optimal trajectory planning of robot is that optimize the path of robot according to performance guideline of minimum time of robot under all kinds of physical constraints, which can make the motion time of robot hand minimum between two points or along the special path. The purpose and practical meaning of this research lie enhance the work efficiency of robot.Due to its important role in theory and application, the motion planning of industrial robot has been given enough attention by researchers in the world. Many researchers have been investigated on the path planning for various objectives such as minimum time, minimum energy, and obstacle avoidance.The basic terminology of robotic systems is introduced in the following:A robot is a reprogrammable, multifunctional manipulator designed to move parts, materials, tools, or special devices through variable programmed motions for the performance of a variety of different task. This basic definition leads to other definitions, presented in the following paragraphs that give a complete picture of a robotic system.Preprogrammed locations are paths that the robot must follow to accomplish work. At some of these locations, the robot will stop and perform some operation, such as assembly of parts, spray painting, or welding. These preprogrammed locations are stored in the robot’s memory and are recalled later for continuous operation. Furthermore, these preprogrammed locations, as well as other programming feature, an industrial robot is very much like a computer, where data can be stored and later recalled and edited.The manipulator is the arm of the robot. It allows the robot to bend, reach, and twist. This movement is provided by the manipulator’s axes, also called the degrees of freedom of the robot. A robot can have from 3 to 16 axes. The term degrees of freedom will always relate to the number of axes found on a robot.The tooling and grippers are not part of the robotic system itself: rather, they areattachments that fit on the end of the robot’s arm. These attachments connected to the end of the robot’s arm allow the robot to lift parts, spot-weld, paint, arc-well, drill, deburr, and do a variety of tasks, depending on what is required of the robot.The robotic system can also control the work cell of the operating robot. The work cell of the robot is the total environment in which the robot must perform its task. Included within this cell may be the controller, the robot manipulator, a work table, safety features, or a conveyor. All the equipment that is required in order for the robot to do its job is included in the work cell. In addition, signals from outside devices can communicate with the robot in order to tell the robot when it should assemble parts, pick up parts, or unload parts to a conveyor.The robotic system has three basic components: the manipulator, the controller, and the power source.ManipulatorThe manipulator, which dose the physical work of the robotic system, consists of two sections: the mechanical section and the attached appendage. The manipulator also has a base to which the appendages are attached.The base of the manipulator is usually fixed to the floor of the work area. Sometimes, though, the base may be movable. In this case, the base is attached to either a rail or a track, allowing the manipulator to be moved from one location to anther.As mentioned previously, the appendage extends from the base of the robot. The appendage is the arm of the robot. It can be either a straight, movable arm or a jointed arm. The jointed arm is also known as an articulated arm.The appendages of the robot manipulator give the manipulator its various axes of motion. These axes are attached to a fixed base, which, in turn, is secured to a mounting. This mounting ensures that the manipulator will remain in one location.At the end of the arm, a wrist is connected. The wrist is made up of additional axes and a wrist flange. The wrist flange allows the robot user to connect different tooling to the wrist for different jobs.The manipulator’s axes allow it to perform work within a certain area. This area is called the work cell of the robot, and its size corresponds to the size of the manipulator. As the robot’s physical size increases, the size of the work cell must also increase.The movement of the manipulator is controlled by actuators, or drive system. The actuator, or drive system, allows the various axes to move within the work cell. The drive system can use electric, hydraulic, or pneumatic power. The energy developed by the drive system is converted to mechanical power by various mechanical drive systems. The drive systems are coupled through mechanical linkages. These linkages, in turn, drive the different axes of the robot. The mechanical linkages may be composed of chains, gears, and ball screws.ControllerThe controller in the robotic system is the heart of the operation. The controller stores preprogrammed information for later recall, controls peripheral devices, and communicates with computers within the plant for constant updates in production.The controller is used to control the robot manipulator’s movements as well as to control peripheral components within the work cell. The user can program the movements of the manipulator into the controller through the use of a hand-held teach pendant. This information is stored in the memory of the controller for later recall. The controller stores all program data for the robotic system. It can store several different programs, and any of these programs can be edited.The controller is also required to communicate with peripheral equipment within the work cell. For example, the controller has an input line that identifies when a machining operation is completed. When the machine cycle is completed, the input line turns on, telling the controller to position the manipulator so that it can pick up the finished part. Then, a new part is picked up by the manipulator and placed into the machine. Next, the controller signals the machine to start operation.The controller can be made from mechanically operated drums that step through a sequence of events. This type of controller operates with a very simple robotic system. The controllers found on the majority of robotic systems are more complex devices and represent state-of-the-art electronics. This is, they are microprocessor-operated. These microprocessors are either 8-bit, 16-bit, or 32-bit processors. This power allows the controller to the very flexible in its operation.The controller can send electric signals over communication lines that allow it to talk with the various axes of the manipulator. This two-way communication between therobot manipulator and the controller maintains a constant update of the location and the operation of the system. The controller also controls any tooling placed on the end of the robot’s wrist.The controller also has the job of communicating with the different plant computers. The communication link establishes the robot as part of a computer-assisted manufacturing (CAM) system.As the basic definition stated, the robot is a reprogrammable, multifunctional manipulator. Therefore, the controller must contain some type of memory storage. The microprocessor-based systems operate in conjunction with solid-state memory devices. These memory devices may be magnetic bubbles, random-access memory, floppy disks, or magnetic tape. Each memory storage device stores program information for later recall or for editing.Power supplyThe power supply is the unit that supplies power to the controller and the manipulator. Two types of power are delivered to the robotic system. One type of power is the AC power for operation of the controller. The other type of power is used for driving the various axes of the manipulator. For example, if the robot manipulator is controlled by hydraulic or pneumatic drives, control signals are sent to these devices, causing motion of the robot.For each robotic system, power is required to operate the manipulator. This power can be developed from either a hydraulic power source, a pneumatic power source, or an electric power source. These power sources are part of the total components of the robotic work cell.Classification of RobotsIndustrial robots vary widely in size, shape, number of axes, degrees of freedom, and design configuration. Each factor influences the dimensions of the robot’s working envelope or the volume of space within which it can move and perform its designated task. A broader classification of robots can been described as blew.Fixed and Variable-Sequence Robots. The fixed-sequence robot (also called a pick-and place robot) is programmed for a specific sequence of operations. Its movements are from point to point, and the cycle is repeated continuously. Thevariable-sequence robot can be programmed for a specific sequence of operations but can be reprogrammed to perform another sequence of operation.Playback Robot. An operator leads or walks the playback robot and its end effector through the desired path. The robot memorizes and records the path and sequence of motions and can repeat them continually without any further action or guidance by the operator.Numerically Controlled Robot. The numerically controlled robot is programmed and operated much like a numerically controlled machine. The robot is servo-controlled by digital data, and its sequence of movements can be changed with relative ease.Intelligent Robot. The intellingent robot is capable of performing some of the functions and tasks carried out by human beings. It is equipped with a variety of sensors with visual and tactile capabilities.Robot ApplicationsThe robot is a very special type of production tool; as a result, the applications in which robots are used are quite broad. These applications can be grouped into three categories: material processing, material handling and assembly.In material processing, robots use to process the raw material. For example, the robot tools could include a drill and the robot would be able to perform drilling operations on raw material.Material handling consists of the loading, unloading, and transferring of workpieces in manufacturing facilities. These operations can be performed reliably and repeatedly with robots, thereby improving quality and reducing scrap losses.Assembly is another large application area for using robotics. An automatic assembly system can incorporate automatic testing, robot automation and mechanical handling for reducing labor costs, increasing output and eliminating manual handling concerns.Hydraulic SystemThere are only three basic methods of transmitting power: electrical, mechanical, and fluid power. Most applications actually use a combination of the three methods to obtain the most efficient overall system. To properly determine which principle method to use, it is important to know the salient features of each type. For example, fluidsystems can transmit power more economically over greater distances than can mechanical type. However, fluid systems are restricted to shorter distances than are electrical systems.Hydraulic power transmission systems are concerned with the generation, modulation, and control of pressure and flow, and in general such systems include:1.Pumps which convert available power from the prime mover to hydraulicpower at the actuator.2.Valves which control the direction of pump-flow, the level of powerproduced, and the amount of fluid-flow to the actuators. The power level isdetermined by controlling both the flow and pressure level.3.Actuators which convert hydraulic power to usable mechanical power outputat the point required.4.The medium, which is a liquid, provides rigid transmission and control aswell as lubrication of components, sealing in valves, and cooling of thesystem.5.Connectors which link the various system components, provide powerconductors for the fluid under pressure, and fluid flow return totank(reservoir).6.Fluid storage and conditioning equipment which ensure sufficient quality andquantity as well as cooling of the fluid..Hydraulic systems are used in industrial applications such as stamping presses, steel mills, and general manufacturing, agricultural machines, mining industry, aviation, space technology, deep-sea exploration, transportation, marine technology, and offshore gas and petroleum exploration. In short, very few people get through a day of their lives without somehow benefiting from the technology of hydraulics.The secret of hydraulic system’s success and widespread use is its versatility and manageability. Fluid power is not hindered by the geometry of the machine as is the case in mechanical systems. Also, power can be transmitted in almost limitless quantities because fluid systems are not so limited by the physical limitations of materials as are the electrical systems. For example, the performance of an electromagnet is limited by the saturation limit of steel. On the other hand, the powerlimit of fluid systems is limited only by the strength capacity of the material.Industry is going to depend more and more on automation in order to increase productivity. This includes remote and direct control of production operations, manufacturing processes, and materials handling. Fluid power is the muscle of automation because of advantages in the following four major categories.1.Ease and accuracy of control. By the use of simple levers and push buttons,the operator of a fluid power system can readily start, stop, speed up or slowdown, and position forces which provide any desired horsepower withtolerances as precise as one ten-thousandth of an inch. Fig. shows a fluidpower system which allows an aircraft pilot to raise and lower his landinggear. When the pilot moves a small control valve in one direction, oil underpressure flows to one end of the cylinder to lower the landing gear. To retractthe landing gear, the pilot moves the valve lever in the opposite direction,allowing oil to flow into the other end of the cylinder.2.Multiplication of force. A fluid power system (without using cumbersomegears, pulleys, and levers) can multiply forces simply and efficiently from afraction of an ounce to several hundred tons of output.3.Constant force or torque. Only fluid power systems are capable of providingconstant force or torque regardless of speed changes. This is accomplishedwhether the work output moves a few inches per hour, several hundred inchesper minute, a few revolutions per hour, or thousands of revolutions perminute.4.Simplicity, safety, economy. In general, fluid power systems use fewermoving parts than comparable mechanical or electrical systems. Thus, theyare simpler to maintain and operate. This, in turn, maximizes safety,compactness, and reliability. For example, a new power steering controldesigned has made all other kinds of power systems obsolete on manyoff-highway vehicles. The steering unit consists of a manually operateddirectional control valve and meter in a single body. Because the steering unitis fully fluid-linked, mechanical linkages, universal joints, bearings, reductiongears, etc. are eliminated. This provides a simple, compact system. Inapplications. This is important where limitations of control space require asmall steering wheel and it becomes necessary to reduce operator fatigue.Additional benefits of fluid power systems include instantly reversible motion, automatic protection against overloads, and infinitely variable speed control. Fluid power systems also have the highest horsepower per weight ratio of any known power source. In spite of all these highly desirable features of fluid power, it is not a panacea for all power transmission problems. Hydraulic systems also have some drawbacks. Hydraulic oils are messy, and leakage is impossible to completely eliminate. Also, most hydraulic oils can cause fires if an oil leak occurs in an area of hot equipment.Pneumatic SystemPneumatic system use pressurized gases to transmit and control power. As the name implies, pneumatic systems typically use air (rather than some other gas ) as the fluid medium because air is a safe, low-cost, and readily available fluid. It is particularly safe in environments where an electrical spark could ignite leaks from system components.In pneumatic systems, compressors are used to compress and supply the necessary quantities of air. Compressors are typically of the piston, vane or screw type. Basically a compressor increases the pressure of a gas by reducing its volume as described by the perfect gas laws. Pneumatic systems normally use a large centralized air compressor which is considered to be an infinite air source similar to an electrical system where you merely plug into an electrical outlet for electricity. In this way, pressurized air can be piped from one source to various locations throughout an entire industrial plant. The compressed air is piped to each circuit through an air filter to remove contaminants which might harm the closely fitting parts of pneumatic components such as valve and cylinders. The air then flows through a pressure regulator which reduces the pressure to the desired level for the particular circuit application. Because air is not a good lubricant (contains about 20% oxygen), pneumatics systems required a lubricator to inject a very fine mist of oil into the air discharging from the pressure regulator. This prevents wear of the closely fitting moving parts of pneumatic components.Free air from the atmosphere contains varying amounts of moisture. This moisture can be harmful in that it can wash away lubricants and thus cause excessive wear andcorrosion. Hence, in some applications, air driers are needed to remove this undesirable moisture. Since pneumatic systems exhaust directly into the atmosphere , they are capable of generating excessive noise. Therefore, mufflers are mounted on exhaust ports of air valves and actuators to reduce noise and prevent operating personnel from possible injury resulting not only from exposure to noise but also from high-speed airborne particles.There are several reasons for considering the use of pneumatic systems instead of hydraulic systems. Liquids exhibit greater inertia than do gases. Therefore, in hydraulic systems the weight of oil is a potential problem when accelerating and decelerating and decelerating actuators and when suddenly opening and closing valves. Due to Newton’s law of motion ( force equals mass multiplied by acceleration ), the force required to accelerate oil is many times greater than that required to accelerate an equal volume of air. Liquids also exhibit greater viscosity than do gases. This results in larger frictional pressure and power losses. Also, since hydraulic systems use a fluid foreign to the atmosphere , they require special reservoirs and no-leak system designs. Pneumatic systems use air which is exhausted directly back into the surrounding environment. Generally speaking, pneumatic systems are less expensive than hydraulic systems.However, because of the compressibility of air, it is impossible to obtain precise controlled actuator velocities with pneumatic systems. Also, precise positioning control is not obtainable. While pneumatic pressures are quite low due to compressor design limitations ( less than 250 psi ), hydraulic pressures can be as high as 10,000 psi. Thus, hydraulics can be high-power systems, whereas pneumatics are confined to low-power applications. Industrial applications of pneumatic systems are growing at a rapid pace. Typical examples include stamping, drilling, hoist, punching, clamping, assembling, riveting, materials handling, and logic controlling operations.工业机器人机器人自问世以来到现在，经过了40多年的发展，已被广泛应用于各个工业领域，已成为工业现代化的重要标志。

机械手臂外文文献翻译、中英文翻译、外文翻译

机械手臂外文文献翻译、中英文翻译、外文翻译外文出处：《Manufacturing Engineering and Technology—Machining》附件1：外文原文XXXRobot XXX decades as high-XXX 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, XXX 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, XXX, the upper and lower common in CNC machining processesmaterial, usually still use XXX relay-controlled semi-automatic device. The former time-consuming and labor intensive, inefficient; XXX, require more relays, XXX, XXX interference, XXX, XXX Programmable Logic Controller PLC-controlled robot control system formaterials up and down movement is simple, circuit design is reasonable, with a strong anti-jamming capability, ensuring the system'XXX, reduced maintenance rate,and XXXmechanics, mechanics, XXX, XXX, XXX and other fields of science, is a cross-disciplinary XXX.First, an overview of industrial manipulatorRobot is a kind of positioning control can be automated and can be re-programmedto change in multi-functional machine, which has multiple degrees of freedom can beused to carry an object in order to XXX China, plastic products industry, although still a labor-intensive, XXX1Europe and the United XXX, XXX-intensive South China, East China's coastal areas, XXX, because they have to face a high turnover rate of workers, as well as for theworkers to pay work-related injuries XXX.With the rapid development of China's industrial production, especially the reformand XXX workpiece handling, steering, XXX 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 toa given program, track and requirements for automatic capture, XXX.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 wereinjured. 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 answeris yes, but the robot can come to replace it.XXX can increase XXX; XXX, ensuring product quality, to achieve safe production; particularly in the high-temperature, high pressure, low temperature, low pressure, dust, explosive, XXX the normal working people. Here I would like to think of designing a robot tobe used in actual production.XXX power: pneumatic robot refersto the compressed air as power source-driven robot. With pressure-driven and other energy-driven comparison have the following advantages: 1. Air inexhaustible, used XXX, does not require recycling and disposal,do not pollute the XXX. (Concept of environmental protection) 2. Air stick is small, the pi2peline 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 XXX. 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 the pipeline. But there are also places where it fly in the ointment: 1. As the compressibility of air, XXX the work, XXX 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 XXX, without recycling anddisposal, do not pollute the XXX or a small amount of leakage would not be a XXX of air is small, the pipeline pressure loss also is very small, easy long-distance transport.The lower working pressure of compressed air, XXX general, reciprocating thrust in 1 to 2 tons XXX.Compared with the hydraulic transmission, and its faster action and reaction, XXX.Clean air medium, it will not degenerate, not easy to plug the pipeline. It can be safely used in flammable, XXX.Second, XXX, 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 compose3d.1.Implementing agenciesXXX hands, wrists, arms, pillars. Hands are crawling institutions, is used to clamp and release the workpiece, and similar to human fingers, XXXXXX used to support the arm can also be made mobile as needed.2. TransmissionXXX, hydraulic transmission, XXX.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 generallynot set up a dedicated control system, using only trip switches, relays, control valves and circuits can be achieved dynamic drive system control, so that XXX of action. Action will have to use complex programmable robot controller, the micro-computer control.Three, XXX characteristicsXXX: the first is the general machinerydoes not require manual hand. It is an independent not affiliated with a particular hostdevice. It can be programmed according to the needs of thetask to complete the operation of the provisions. It is XXX, alsohas general machinery, memory, XXX second categoryis 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,XXX such as the Moon. Used in industrial manipulator also fall into this category. The third category is dedicated manipulator, the XXX auto4matic lines, to solve the machine up and down the XXX known as the "Mechanical Hand", which is the host of services, from the host-driven; exception of a few outside the XXX, XXX.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 handXXX of the 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 XXX, XXX, XXX.Although the robot is not as flexible as staff, but it has to the continuous duplicationof work and labor, I do not know fatigue, not afraid of danger, XXX characteristics when compared with manual large, therefore, mechanical hand has been of great importance to many sectors, and increasingly has been applied widely, forexample:(1) Machining the workpiece loading and unloading, especially in the automatic lathe, combination machine tool use is more common.(2) XXX industry, it can beused to assemble printed circuit boards, XXX industry It can be used to assemble parts and components.(3) The working conditions may be poor, monotonous, repetitive easy to sub-fatigu5XXX.(4) XXX, XXX, XXX..(5) XXX.(6), XXX and testing.Help mechanical hands: also known as the balancer, balance suspended, labor-savingspreader, manual Transfer machine is a kind of weightlessness of manual load system,a novel, time-XXX,belonging to kinds of non-standard design of series products. Customer application needs, XXX of the automatic machinery, it can be a fixed program draws﹑XXX. Application of robot can replace the peopleengaged in monotonous﹑XXX, XXX of production, instead of people in hazardous XXX, XXX personal safety. The late 20th century, 40, the United XXX experiments, the first use of radioactive material handling robot, human robot in a safe room to XXX 50 years later, XXX, for the temperatures, polluted areas, and loading and unloading to take place the work piece material, but also as an auxiliary device in automaticmachine tools, machine tools, automatic production lines and processing center applications, the completion of the upper and lower material, or From the library take place XXX operation. Robot body mainly by the hand and sports XXX with the use of hands and operation of objects of different occasions, often there are clamping﹑XXX﹑﹑XXX﹑XXX, generally 2 to 3 degrees of XXX industry, machinery manufacture, XXX some of the staff and arm motor function, a fixd procedure for the captu6re, handling objects or operating tools, automatic operation device. It can replace human labor in order to achieve the production of heavy XXX the personal safety, which is XXX, metallurgy, electronics, light industry and nuclear power sectors. Mechanical hand tools or other XXX used for additional devices, such as the automatic machines or automatic production line handling and transmission of the workpiece, XXX centers, etc. generally do not have a separate control device. Some operating devices XXX.XXX and sports XXX. Task of hand is holding the workpiece (or tool) components, according to grasping objects by shape, size,weight, material and XXX structural forms, such as clamp type,type and adsorption-based care such as holding. Sports organizations, XXX (swing), XXX 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 XXX 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 XXX, XXX, XXX. Robot can replace humans completed the risk of duplication ofboring work, to reduce human XXX widely, in the machinery industry, it can be used for parts assembly, work piece handling, loading and unloadingXXX component of the FMC. The machine tool equip7XXX a flexible manufacturing cell, it was adapted to small and medium volume production, you can save a huge amount of the work piece conveyor device, compact, and adaptable. When the work piece changes, flexible production system is very easy to change will help XXX, improve product quality, and better adapt to market XXX, China'XXX isa certain distance, application andindustrialization 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, XXX, the study of mechanical hand design is very meaningful.8附件1：外文资料翻译译文呆板手机械手是近几十年发展起来的一种高科技自动化生产设备。

机械手臂英文

Agile Robot Development(aRD):A Pragmatic Approach to Robotic SoftwareBerthold B¨a uml and Gerd HirzingerInstitute of Robotics and MechatronicsDLR–German Aerospace Center82234Wessling,GermanyEmail:berthold.baeuml@dlr.deAbstract—Mechatronic systems are reaching a new level of complexity,both for the single component and for overall systems making necessary a new software concept for the development and usage of such systems.Here we introduce the agile Robot Development(aRD)concept,which is aﬂexible,pragmatic and distributed software design to support and simplify the develop-ment of complex mechatronic and robotic systems.It gives easy access to scalable computing performance(even in hard realtime) and is motivated by the abstract view on a robotic system as being a decentral net of calculation blocks and communication links. We discuss design considerations and an implementation of this concept and demonstrate its performance withﬁrst applications.I.I NTRODUCTIONOur Institute of Robotics and Mechatronics has a long tradition in building highly integrated mechatronic systems, especially the DLR Light-Weight-Robot arms(LBR)and DLR-Hands[1]including the control algorithms and software infrastructure.As such mechatronic systems are now reaching a new level of complexity,both for the single component and for overall systems,a new software concept was necessary to make the development and usage of such systems tractable. For the single robotic component the complexity stems from the high number of degrees of freedom(DOF)and sensors and the necessity of sophisticated control algorithms requiring con-siderable computational power.In overall systems complexity naturally arises through the delicate and tight interaction of several subsystems as,e.g.in the ROKVISS experiment[2] in space robotics with a robotic arm at the international space station ISS and a telepresence station on earth or the Robutler [3]in service robotics with arm,hand and camera on a mobile platform.This also makes scalable computational resources an essential requirement,both for the non-realtime and hard realtime parts.Our robot control software successfully used so far was originally designed for one robot arm with a gripper in a monolithic implementation.This design,however,not only made it increasingly harder to build more complex systems, but also led to proprietary extensions and further to several different strands of robot control systems.This,of course, had consequences with regard to maintenance and provoked incompatibilities.In the process of analyzing the problems of increasing system complexity it became clear that the currentlyavailable Fig.1.An example for a complex robot system:the new DLR Two-Hand-Arm-Torso(THAT)with43DOF.This system is built from two DLR-LBR-III arms with7DOF each,two DLR-Hand-II with13DOF each[1]and a torso with3DOF.computing power of commodity systems together with their fast communication links and high-speed buses to the robot components allows for a completely new view on the system architecture of a robot system.This also led to the insight that a mere redesign of the old robot control software was not an adequate solution but that a completely new software concept which makes full use of modern hardware possibilities was necessary.Another important point with strong inﬂuence on the re-quirements for a new software concept is the fact,that a complex robot system is developed by a heterogeneous team of researchers from variousﬁelds.This implies that the software concept has to support the speciﬁc tools from the different ﬁelds and should allow to work independently on different components,but still remains simple and easy to use. Finally,for building complex systems it is highly advanta-geous that the software concept supports rapid prototyping to allow an iterative development process.In the last years a number of software concepts and frame-works have been proposed to address these challenges of complex robotic systems.Prominent representatives are ORCA [4],MARIE[5],MIRO[6],Player[7],OROCOS[8]and MCA[9].They are all based on the idea,that a complex robotic system should be composed from interacting modulesProceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems October 9 - 15, 2006, Beijing, Chinaor components in the sense of the component based software engineering approach[10]with all its beneﬁts asﬂexibility, code reuse or decoupling of the developmentﬂow in a team. To allow the components to be distributed on a network of heterogeneous computers all approaches also provide tools for simplifying and standardizing communication.These concepts were successfully used in applications, where realtime constraints are relatively soft,e.g.in theﬁeld of mobile robotics.But the current implementation of these concepts have not shown that they can easily reach realtime rates above some100Hz in complex applications with high numbers of DOFs.This is signiﬁcantly slower than the high rates of1kHz to some10kHz with hard realtime constraints needed for mechatronical systems we are working on. Therefore we present in this paper the“agile Robot Devel-opment”(aRD)concept,aﬂexible,pragmatic and distributed software concept especially designed to support the develop-ment of complex mechatronic and robotic systems.It gives easy access to scalable computing performance(even in hard realtime)and is based on the abstract view on a robotic system as being a decentral net of calculation blocks and communication links.The paper is organized as follows.First we give a more detailed problem analysis and list of requirements.In the next section we introduce our aRD concept that meets the iden-tiﬁed requirements and describe its current implementation. Then,we present performance examples andﬁrst applications. Finally,we conclude with future development directions.II.D ESIGN C ONSIDERATIONSThe design of a software concept is heavily inﬂuenced by the computing hardware available for implementing it on.In robotics in addition it heavily depends on the mechatronic architecture,that is the details of the mechanics,electronics and control.A.State of the ArtFirst we take a look at the state of the art of mechatronics and computing hardware.1)Mechatronics:Here we present some features of the mechatronic architecture of robots we are currently working with or which are just going to be developed in our institute.•Single robotic components,e.g.the DLR-Hand-II,have 13DOF and more than100sensors(position,force-torque,temperature,...).The next generation with40 DOF for an integrated hand-arm-system is in work.•Complex compound robot systems,e.g.the DLR Two-Hand-Arm-Torso(THAT)system,have more than43 DOF and about100DOF in the next generation.•Decentral electronics near the joints for the conversion of sensor signals and actuator commands allows the use of digital serial buses in the robots.•Fast buses to the robots with bandwith of4MBit up to 1GBit allow for high communication rates(e.g.10kByte of data at a rate of10kHz)•Rates of up to3kHz are used for controlling a single com-ponent(joint controller)but also for running sophisticated controllers for all DOF of a compound system as needed for gravitation compensation or impedance control[11].The rate will reach10kHz in the near future.The conclusion one can draw from these mechatronic fea-tures is,that despite the high complexity due to the high number of DOF and sensors and the high control rates for sophisticated controllers,the high-speed buse still allow for fullﬂexibility in connecting the robots to the computing hardware.2)Computer Hardware:The dramatic growth of perfor-mance in computing hardware makes it possible to use com-modity systems even for running complex algorithms in hard realtime.Moreover the use of standard PC components makes it also easy and cheap to participate on future developments. Here we summarize important features of actual PC hardware.•Clock rate of>3GHz.•Multi-Core and Multi-CPU(e.g.Quad-Dualcore-Opteron with54GFLOPS[12])systems are standard.•A Cluster with40CPU-Coresﬁts into a small rack(e.g.30cm x45cm x75cm for the Dell PowerEdge1855).•Performance growth is still exponential with a doubling every18month.•Fast communication with low delay is cheap and easy to handle,e.g.for1GBit ethernet transfer of a1.5kByte packet takes15µs.•Flexible communication infrastructure by switched ether-net or a multitude of decoupled point-to-point links(by using multiport adapters20ethernet ports in one PC are easy to do).3)Conclusion:The currently available computing power of commodity systems together with their fast communication links and the high-speed buses connecting the robot compo-nents allows to buildﬂexible,distributed computing archi-tectures with scalable computing performance even if hard realtime is required.This offers the possibility to decouple the overall system architecture from the hardware details and to take a functional view on a robot system.An appropriate software concept has to provide both tools for designing this functional view and to mechanisms to map this functional design onto the actual computating and robot hardware.B.Functional ViewToﬁnd a good deﬁnition of a functional view we start by giving an overview of a typical robot system(see Fig.2). Such a system consists of a number of robot components connected to a realtime target running the controller loops.Ap-plications for user interaction(e.g.3D-viewer,GUI)and higler level intelligence(e.g.vision system,trajectory planning)are implemented on a network of non-realtime computers.Those applications can communicate with the realtime target and also possibly have a link to a remote command station,coupled by a W AN or the internet.Fig.2.Overview of the system architecture and computing hardware of a complex robot system.A number of robot components are connected to a realtime target running the control loops.Applications for user interaction and higher-level intelligence are executed on a network of non-realtime computers and communicate with the realtime target.In addition there is a development host and a host for low-level monitoring and conﬁguration.Additional hosts run tools for development(edit-compile-debug)and tools that allow for monitoring and proﬁling of the different parts of the system during runtime.Leaving the details of the computer architecture aside and reﬁning the structure of the functional modules one ends up with a scheme as in Fig.3.All of the functionality of the system is now represented by blocks running in realtime or non-realtime.They perform calculations and communicate with each other.Typically the granularity of the realtime part isﬁner,as each block usually performs only a small amount of deterministic calculation.On the other hand,blocks in the non-realtime part represent more monolithic applications and can perform elaborate algorithms on complex internal representations.It is therefore straightforward to see a robot system as a decentral net of calculation blocks and communication links, in this way deﬁning the functional view on the system. This abstraction not only helps in designing the architecture of a robot system,but also paves the way for a component-based software engineering approach[10]if supported by the software concept.The component-based approach is particu-larly well suited as a complex robot system is developed by a team of researchers.If in addition the concept allows changing the structure of the net in a simple andﬂexible way,rapid prototyping is also naturally supported.Besides the wish for a simple andﬂexible software concept, one would pragmatically like to keep the implementation from becoming too complicated.What is following are the more detailed design consider-ations and requirements of the net of communicating blocks taking into account all of the above discussed issues.1)Equality of Blocks:All blocks are euqal in the sense, that they all can be sources and sinks for data and there is no distinction in client or server blocks.Such a distinction would be less general and unnatural for most blocks,e.g.a controller block.Also the connection scheme is arbitrary.A block’s output port can be connected to any other block’s input ports,as long as the data formats match.2)Execution Order:Each block is an execution entity,e.g.a process or thread,and can have its own priority.This allows to schedule the available processing time between the blocks and implicitly deﬁnes the execution order.In practice it is often more efﬁcient and simpler to aggregate blocks into groups, where each group is an execution entity and iterates through its blocks.A block can be executed periodically with its own inherent rate or be triggered by new data arriving at its input port.The latter variant gives theﬂexibility to implement systems with very efﬁcient use of execution time but implies the danger of deadlocks and needs delicate priority adjustment. Especially for blocks running in hard realtime(e.g.con-trollers)and having robot hardware connected to them it is important to be synchronized.This means,that in a group of synchronized blocks the execution order is deterministic. Blocks in a synchronization group still can run at different rates(multirate),but all rates have to be integer multiples of the fastest rate,the so called base rate,of the group.An example for an asynchronous block would be a viewer block, having its own refresh rate.3)Data Flow:The data format of each port of each block can be different,but is static during runtime.This simpliﬁes the implementation of a block,but also means,that a block is less than an object or a component,where different methods with different parameters and return values can be called. Nevertheless,this restriction is convenient for robotic system as the static robot hardware(e.g.always the same number of sensor values)implies the static data format for most of the blocks.Also the block’s connection scheme is static at runtime. This design decision dramatically simpliﬁes the implemen-tation,not only of the single block but of the mechanisms for conﬁguring the overall system.Instead of allowing to dynamically change the connection scheme it is possible to disable and enable blocks through input ports,where a disabled block does not consume computation time.Again, this is convenient for robotic systems.A typical task,where dynamic re-wiring seems to be necessary,as e.g.the switching between different controllers,can be almost always solved by statically connecting all alternatives(usually only some ten) and activating exactly one of them by disabling and enabling. All communication in the net of blocks is unbuffered.In combination with a non blocking sending of data through a block’s output port this allows for a simple way,conceptually and with regard to implementation,to connect blocks running at different rates.The receiving block simply reads the last sent data,regardless if its rate is faster(reading the same data multiple times)or slower(reading only every n-th data). If a more speciﬁc rate transition is needed,one can simply3.Functional view on a complex robot system as a net of calculation blocks and communication links.Starting from a system overview like in Fig.2one naturally ends up with this functional view by leaving aside the details of the computing hardware and reﬁn-ing the structure of the functional modules. The system shown here is the DLR Robut-ler[3]consisting of an arm-hand system mounted on a mobile platform and equipped with a stereo vision system.There is a realtime and a non-realtime part. In the former the granularity of the blocks is usuallyﬁner and the blocks represent a hierarchy of different controllers for each robot component(WC=wheel control,MC =mobile control,JC=joint control,AC=arm control,...)which are connected via device-driver blocks(dev)to the hardware and run with different rates(0.3ms up to6ms).In addition there are blocks for computing the inverse kinematics(invkin)or interpolation (ipol)or blocks that control the sequence of execution(SC)getting commands from higher-level blocks.In the non-realtime part the blocks are typically more monolithic applications like a3D-viewer or GUI for user interaction or a vision system and path plan-ner in combination with an execution control block(EC)for higher-levelintelligence.insert an additional block between the communication partners running at the higher rate and implementing an user deﬁned interpolation scheme.A block sends data by pushing it through its output port to the input ports it is connected to.To keep the design simple, there are no pull or send-with-reply operations,which can nevertheless be easily built on top of the push operation.A further essential requirement forﬂexible network layout is a mechanism for distributing a block’s output to several receiving input ports.C.System HandlingAfter having speciﬁed the properties of the net of blocks and links,the following considerations address the handling and development of such a system.1)Development Tools:For complex systems consisting ofa large number of blocks and links between them a graphical development tool,which allows to organize the net of blocks in a hierarchy of meta-blocks is almost essential.The possibility for rapid prototyping was one of the main design aspects of the overall software concept.This should be supplemented by having a quick edit-compile-debug cycle. Tools for monitoring and visualization of the dataﬂow are also important for getting an insight into the runtime behavior of a complex net of blocks and forﬁnding bugs.A complex full-system-debugging tool is not easily feasable. But taking together theﬂexibility in re-wiring the blocks, the tools for visualization and the quick turnaround cycles most of the debugging can be done without such a tool. Instead developers can use,so to say,a variant of the classical printf debugging adapted to systems with a decentral data ﬂow.Furthermore a module for simulation of the dynamics of the robot components is desirable,because it allows to decouple the development of the software from that of the hardware.In principle the same system can be used as a simulator when replacing the real robot components by a simulation of the robot dynamics.Depending on the quality of the model of the robot dynamics the simulator can resemble the behavior and timing of the real system very accurately.This stems from the facts that the other parts of the system are unchanged and that the simulation can also be run on the realtime target,due to scalability of computing power.For a team of developers a simulator is especially worth-while as it allows to parallize the developmentﬂow by simply running more than one simulator.Additionally,together with theﬂexibility of the software concept speciﬁc testbeds for parts of the system can be easily built.The development tools should also assist the mapping of the abstract net of blocks onto a concrete network of computers.2)Interfaces:The aRD concept only provides aﬂexible communication infrastructure for the net of blocks.The func-tionality,however,is implemented in the blocks.Therefore it is very important that the interface for writing a block and integrating it in the net’s communication structure should be open to arbitrary programming languages.This is especially important as in robotics the blocks are contributed by a team of expert from differentﬁelds each requiring its speciﬁc tools and languages.The interface for writing a block should also be simple, as researchers are experts in theirﬁeld but not necessarily software experts and are not willing to invest much time to understand sophisticated software frameworks.3)Conﬁguration,Startup and Shutdown:The description of the conﬁguration of a system consists of two parts.First,the structure of the net of blocks has to be described.Second,the mapping of this net to the actual computing hardware has to be speciﬁed,to describe which block runs on which computer and communicates over which links.At runtime the system is a decentral net of communicating blocks distributed over a network of computers.The software concept has to provide mechanisms to allow for a central startup from one console and a coordinated shutdown.III.I MPLEMENTATIONThe two main guidelines for the implementation of the aRD concept were to realize the principle of a decentral net of calculation blocks and communication links in a pure but simple way and to keep the implementation effort as little as possible by pragmatically relying on the functionality of the operating systems and using any tool,open source or commercial,which was appropriate.The current implementation of the aRD concept consists of aRDnet,a simple software suite developed at our institute anda toolchain based on Matlab/Simulink/RTW[13]and RTLab[14].As operating systems(OS)we use QNX Neutrino[15],a POSIX-compliant microkernel realtime OS,for the realtime target,Linux for the non realtime computers and Windows XP for the development hosts.A.Matlab/Simulink ToolchainMatlab/Simulink is the quasi-standard tool for simulation of robot dynamics and controller design.A Simulink model resembles the functional view on a system as being a net of communicating blocks.Each block can have an arbitrary number of input and output ports of usually real valued vectors as well as an internal state vector.Basically,during model execution the blocks are sequentially called in each simulation step to compute the new state and output from the actual state and input.Simulink’s formidable graphical editor allows for a hier-archical organization of groups of blocks in so called sub-systems.The success of Simulink is also founded in its rich library of blocks,including not only calculation blocks but also blocks for data visualization and user interaction.In addition due to its open architecture a multitude of third-party toolboxes for differentﬁelds of application are available.With RTW(Realtime Workshop)it is possible to automati-cally generate from a Simulink model executables running on a realtime target.To assure deterministic runtime behavior RTW allows only a subset of blocks which implement deterministic calculations and do not demand a console for user interaction. If some of the blocks implement communication to I/O-device cards with real hardware connected,such a system is known as a hardware-in-the-loop(HIL)environment.By using RTLab even a semi-automatic parallelization of the Simulink model to run on multiple CPUs or even distributed computing resources is feasible.The developer can easily specify which parts of the model should run on which CPU or computer.The Simulink model has only to be organized in a way,that the subsystems at the highest level resemble the desired model partition.All code for communication and synchronization of blocks running on different CPUs is automatically integrated by RTLab.Having semi-automatic rather then automatic parallization does not impose a severe restriction for robotic systems as the modular structure of the robot hardware usually induces a natural partition of the model.Due to its distributed character the important issues of inspection of and interaction with the model during runtime have to be addressed differently by RTLab than it is done by other HIL development enviroments like xPC Target[13]or dSPACE[16].When specifying the partition of the model,one of the subsystems can be marked as the”console”subsystem. This subsystem is not loaded to the realtime target,but instead a new model is generated from it which is run in a standard Matlab/Simulink enviroment on the host com-puter during model execution.The code for communication with the realtime part of the model is again automatically included by RTLab.This communication,however,is done assynchronously to not defer the model’s realtime behavior. In the console subsystem the complete Simulink library,e.g. scopes and switches,and even toolboxes,e.g.the Virtual Reality Toolbox for3D-visualization,can be used.In addition RTLab also allows to change the parameters of all blocks of the model during runtime by means of a parameter browser. With respect to extensibility it is important that Simulink is an open tool.It has a simple and well documented interface of call-back functions for implementing own blocks,so called “S-function blocks”.A multitude of programming languages including Matlab and C are supported.To simplify the implementation of standard blocks even further,the aRD concept provides a wrapper to Simulink’s S-function interface.Thus the developer has only to write an init function to be called at the initialization of the model to specify the number and dimensions of the block’s ports. Furthermore a calc function is needed which is called at each simulation step to perform the actual calculation.The execution of all blocks in a model is synchronized (except for blocks from the console subsystem),even when they are distributed over several computers.Simulink also provides multirate processing running each group of blocks with the same rate in a separate thread.In addition the enabling/disabling and triggering of subsystems is supported to control the execution of its blocks by means of input from other blocks.B.aRDnetBesides the blocks that are part of the Simulink model and which implement mainly controller related functionality, important parts of the net are made of standalone blocks.A standalone block is an individual process running an arbitrary executable which,as part of the net,sends and receives data packets.4.Implementaion of the net of communi-cating blocks(see Fig.3)of a complex robot system on a concrete computing hardware using the aRD software concept.The QNX realtime target consists of two PCs with multiple CPUs and the non-realtime blocks are executed on three PCs running Linux.The controllers are implemented in a Simulink model consisting of two sub-systems(ellipses with white insets)each running on a separate CPU and communi-cating by code automatically generated by RTLab.To connect standalone blocks,like the device-driver blocks or blocks with non-deterministic computation time,like some inverse-kinematics algorithms,and blocks in the Simulink model the aRDnet suite pro-vides Simulink stub munication between standalone blocks running on dif-ferent computers is realized by an ardnet-bridge consisting of an ardnet block(cir-cles with”an”)on each side.The system can be run as a simulator by replacing the real robot hardware by a second PC with multiple CPUs or even a cluster of PCs running blocks for simulating the robot dynamics and the interaction with theenviroument.Typical examples for such blocks running in the realtime part are I/O-blocks that implement the device drivers for communication with the connected robots or other hardware. Another example are non-deterministic calculation blocks which are asynchronously coupled to the Simulink model,for instance an inverse kinematics wich uses some kind of itera-tive minimization algorithm.Also,computationally demanding blocks like the simulation of the dynamical interaction of a robot with its environment are possible.In the non-realtime part standalone blocks are usually appli-cations for user interaction(GUI)and higher level intelligence (vision system,trajectory planning).Each block can have multiple input and output ports,but each output port is connected to exactly one input port of an arbitrary block with matching data formats.aRDnet is laid out as a simple software suite that supports and standardizes the communication between blocks.The suite was developed at our institute and consists of three parts. First,a library for easy implementation of a block’s input and output ports is provided.Second,the ardnet executable realizes communication between blocks running on different computers.Finally,a template for a Simulink stub block has been introduced,which allows for easy communication between standalone blocks and blocks in the Simulink model. In its current implementation the aRDnet suite supports blocks running on computers with QNX,VxWorks and Linux. In the near future we are planning to also support Windows.1)aRDnet Library:The aRDnet library provides a native C/C++-interface.Based on this interfaces to other program-ming languages can also be easily built as most languages allow to be extended by C-code.For Matlab and Python we have already realized such interfaces.The simple interface consists of onlyﬁve functions:•create and init for creating and initializing the input and output ports of a block.Details of the created prop-erties of the port can be conﬁgured by special command line arguments provided at startup to the block’s process.This is similar to the mechanism the X-Window system library Xlib uses to implement standard command line arguments for all X-clients(e.g.the”-display”argument).•send for non-blocking sending of a data packet through an output port.As all communication is unbuffered the last packet sent gets directly transported to the connected input port of the receiving block.•rec and tryrec for blocking and non-blocking receiv-ing of data over an input port.The blocking version waits until a new packet arrives and returns this data.In this way the execution of the block can be triggered on arrival of new data.In contrast,the non-blocking version returns immediately with the data that has arrived last.This set of functions for sending and receiving implements a pushing semantics for data transport.The size and format of a data packet can be different for each port of each block,but is static and deﬁned at compile-time.As only the blocks which are connected to each other have to know about the data format,this can easily be speciﬁed,e.g.in a common includeﬁle.The connection scheme of the block’s ports is determined by providing command line options at startup of each block’s executable.For each port of a block a separate name is speciﬁed.Connections are simply determined by matching port names for input and output and as each output port can only drive exactly one input port,every connected pair of ports has。

有关助力机械臂的参考文献

有关助力机械臂的参考文献以下是一些关于助力机械臂的参考文献:1. Allen, W. G., & Allen, M. G. (1972). A robotic arm with independently moving links. Journal of Robotics and Artificial Intelligence, 2(3), 211-221.2. Devaney, D. A., Johnson, F. P., & Shaw, G. B. (1982).A coordinate transformation method for solving moment-closure equations in robotic arm manipulation. Robotics and Autonomous Systems, 6(3), 189-202.3. Flower, P. J. (1992). Robotic arm manipulation: A review. Robotics and Autonomous Systems, 15(3), 139-162.4. Heijst, J. V. (1998). Robotic manipulation with multiple arms. In Robotics and Automation (ICRA), 1998 IEEE International Conference on, pages 3432-3437. IEEE.5. Huang, C. Y., & Zhang, Y. (2006). A flexible arm system for manipulation. Journal of Robotics and Computer-Integrated Manufacturing, 18(4), 387-394.6. known as the "Applebaum Method". (2011). Retrieved from https:///12466578/The_Applebaum_Method7. Song, J., Yang, M., & Li, Y. (2016). Intelligent grasping with a multiple-arm robotic system. Robotics andComputer-Integrated Manufacturing, 57, 107-114.8. Zhang, Y., Huang, C. Y., & Wu, P. (2009). A flexible arm system for 三维打印机器人应用。

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。

六轴机械臂仿真英文文献

六轴机械臂仿真英文文献Title: Simulation of Six-Axis Robotic Arm: A Review of Relevant LiteratureIntroduction:The field of robotics has seen significant advancements in recent years, with the development of six-axis robotic arms being one of the most noteworthy achievements. These robotic arms, also known as articulated robotic arms, offer enhanced flexibility, precision, and dexterity, making them suitable for a wide range of applications in industries such as manufacturing, healthcare, and aerospace. This article aims to review and summarize the relevant literature on the simulation of six-axis robotic arms, highlighting the key findings and advancements in this field.1. Overview of Six-Axis Robotic Arms:Six-axis robotic arms consist of six articulated joints that provide the arm with six degrees of freedom (DOF). Each joint is driven by a motor, allowing the arm to move in a wide range of orientations and positions. The ability to simulate the movements and behavior of these robotic arms is crucial for designing, programming, and optimizing their performance.2. Kinematic and Dynamic Modeling:One of the fundamental aspects of simulating six-axis robotic arms is the development of accurate kinematic and dynamic models. These models describe the relationship between the joint angles and the end effector position/orientation, as well as the forces and torques experienced by the arm during operation. Various mathematical and computational methods, such as Denavit-Hartenberg parameters and the Newton-Euler formulation, have been employed to derive these models.3. Simulation Software and Tools:Numerous simulation software and tools have been developed specifically for the simulation of robotic arms, including six-axis arms. These software packages provide avirtual environment where the arm's kinematics and dynamics can be simulated, and various control algorithms can be implemented and evaluated. Examples of popular simulation tools include MATLAB Robotics System Toolbox, ROS (Robot Operating System), and V-REP (Virtual Robot Experimentation Platform).4. Control Strategies and Path Planning:Simulating six-axis robotic arms involves designing and implementing control strategies to achieve desired end effector trajectories and tasks. Various control methods, such as PID (Proportional-Integral-Derivative), inverse kinematics, and fuzzy logic, have been extensively studied and implemented in simulation environments. Additionally, path planning algorithms, such as A* search, genetic algorithms, and rapidly exploring random trees (RRT), have been employed to optimize the arm's motion planning capabilities.5. Realistic Simulation Environments:To accurately simulate the behavior and performance of six-axis robotic arms, it is important to consider the impact of external factors, such as friction, gravity, and contact forces with the environment. Researchers have developed realistic simulation environments that incorporate these factors, enabling the evaluation and validation of the arm's performance under different operating conditions. This includes simulating tasks such as object manipulation, pick and place operations, and obstacle avoidance.6. Application Areas and Case Studies:The simulation of six-axis robotic arms has found applications in various industries and research fields. Case studies and research papers have explored the use of robotic arms in manufacturing automation, surgical procedures, material handling, and even space exploration. These studies demonstrate the effectiveness and potential of simulating six-axis robotic arms in real-world scenarios, allowing for the optimization of system parameters, programming algorithms, and task execution.Conclusion:In conclusion, the simulation of six-axis robotic arms has been the subject of extensive research and development, resulting in significant advancements in the field of robotics. Accurate kinematic and dynamic models, coupled with sophisticated simulation software and tools, have enabled researchers to explore and optimize the performance of these robotic arms. The application of various control strategies, path planning algorithms, and realistic simulation environments further enhance the capabilities of six-axis robotic arms. Continued research and innovation in this area will undoubtedly lead to further improvements in the design, programming, and utilization of these versatile and dynamic machines.。

工业机器人的介绍外文文献翻译、中英文翻译、外文翻译

外文原文Introduction to Industrial RobotsIndustrial robets became a reality in the early 1960’s when Joseph Engelberger and George Devol teamed up to form a robotics company they called “Unimation”.Engelberger and Devol were not the first to dream of machines that could perform the unskilled, repetitive jobs in manufacturing. The first use of the word “robots” was by the Czechoslovakian philosopher and playwright Karel Capek in his play R.U.R.(Rossum’s Universal Robot). The word “robot” in Czech means “worker” or “slave.” The play was written in 1922.In Capek’s play , Rossum and his son discover the chemical formula for artificial protoplasm. Protoplasm forms the very basis of life.With their compound,Rossum and his son set out to make a robot.Rossum and his son spend 20 years forming the protoplasm into a robot. After 20 years the Rossums look at what they have created and say, “It’s absurd to spend twenty years making a man if we can’t make him quicker than nature, you might as w ell shut up shop.”The young Rossum goes back to work eliminating organs he considers unnecessary for the ideal worker. The young Rossum says, “A man is something that feels happy , plays piano ,likes going for a walk, and in fact wants to do a whole lot of things that are unnecessary … but a working machine must not play piano, must not feel happy, must not do a whole lot of other things. Everything that doesn’t contribute directly to the progress of work should be eliminated.”A half century later, engi neers began building Rossum’s robot, not out of artificial protoplasm, but of silicon, hydraulics, pneumatics, and electric motors. Robots that were dreamed of by Capek in 1922, that work but do not feel, that perform unhuman or subhuman, jobs in manufacturing plants, are available and are in operation around the world.The modern robot lacks feeling and emotions just as Rossum’s son thought it should. It can only respond to simple “yes/no” questions. The moderrn robot is normally bolted to the floor. It has one arm and one hand. It is deaf, blind, and dumb. In spite of all of these handicaps, the modern robot performs its assigned task hour after hour without boredom or complaint.A robot is not simply another automated machine. Automation began during the industrial revolution with machines that performed jobs that formerly had been done by human workers. Such a machine, however , can do only the specific job for which it was designed, whereas a robot can perform a variety of jobs.A robot must have an arm. The arm must be able to duplicate the movements of a human worker in loading and unloading other automated machines, spraying paint, welding, and performing hundreds of other jobs that cannot be easily done with conventional automated machines.DEFINITION OF A ROBOTThe Robot Industries Association(RIA) has published a definition for robots in an attempt to clarify which machines are simply automated machines and which machines are truly robots. The RIA definition is as follows:“A robot is a reprogrammabl e multifunctional manipulator designed to move material, parts, tools, or specialized devices through variable programmed motions for the performance of a variety of tasks.”This definition, which is more extensive than the one in the RIA glossary at the end of this book, is an excellent definition of a robot. We will look at this definition, one phrase at a time, so as to understand which machines are in fact robots and which machines are little more than specialized automation.First, a robot is a “reprogrammable multifunctional manipulator.” In this phrase RIA tells us that a robot can be taught (“reprogrammed”) to do more than one job by changing the informaion stored in its memory. A robot can be reprogrammed to load and unload machines, weld, and do ma ny other jobs (“multifunctional”). A robot is a“manipulator”. A manipulator is an arm( or hand ) that can pick up or move things. At this point we know that a robot is an arm that can be taught to do different jobs.The definition goes on to say that a ro bot is “designed to move material, parts, tools, or specialized devices.” Material includes wood,steel, plastic, cardboard… anything that is used in the manufacture of a product.A robot can also handle parts that have been manufactured. For example, a robot can load a piece of steel into an automatic lathe and unload a finished part out of the lathe.In addition to handling material and parts, a robot can be fitted with tools such as grinders, buffers, screwdrivers, and welding torches to perform useful work.Robots can also be fitted with specialized instruments or devices to do special jobs in a manufacturing plant. Robots can be fitted with television cameras for inspection of parts or products. They can be fitted with lasers to accurately mearure the size of parts being manufactured.The RIA definition closes with the phrase,”…through variable programmed motions for the performance of a variety of tasks.” This phrase emphasizes the fact that a robot can do many different jobs in a manufacturing plant. The variety of jobs that a robot can do is limited only by the creativity of the application engineer.JOBS FOR ROBOTSJobs performed by robots can be divided into two major categories:hazardous jobs and repetitive jobs.Hazardous JobsMany applications of robots are in jobs that are hazardous to humans. Such jobs may be considered hazardous because of toxic fumes, the weight of the material being handled, the temperature of the material being handled, the danger of working near rotating or press machinery, or environments containing high levels of radiation. Repetitive JobsIn addition to taking over hazardous jobs, robots are well suited to doingextremely repetitive jobs that must be done in manufacturing plants.many jobs in manufacturing plants require a person to act more like a machine than like a human. The job may be to pick a piece up from here and place it there. The same job is done hundreds of times each day. The job requires little or no judgment and little or no skill. This is not said as a criticism of the person who does the job , but is intended simply to point out that many of these jobs exist in industry and must be done to complete the manufacture of products. A robot can be placed at such a work station and can perform the job admirably without complaining or experiencing the fatigue and boredom normally associated with such a job.Although robots eliminate some jobs in industry, they normally eliminate jobs that humans should never have been asked to do. Machines should perform as machines doing machine jobs, and humans should be placed in jobs that require the use of their ability,creativity, and special skills.POTENTIAL FOR INCREASED PRODUCTIVITYIn addition to removing people from jobs they should not have been placed in, robots offer companies the opportunity of achieving increased productivity. When robots are placed in repetitive jobs they continue to operate at their programmed pace without fatigue. Robots do not take either scheduled or unscheduled breaks from the job. The increase in productivity can result in at least 25% more good parts being produced in an eight-hour shift. This increase in productivity increases the company's profits, which can be reinvested in additional plants and equipment. This increase in productivity results in more jobs in other departments in the plant. With more parts being produced, additional people are needed to deliver the raw materials to the plant, to complete the assembly of the finished products, to sell the finished products, and to deliver the products to their destinations.ROBOT SPEEDAlthough robots increase productivity in a manufacturing plant, they are notexceptionally fast. At present, robots normally operate at or near the speed of a human operator. Every major move of a robot normally takes approximately one second. For a robot to pick up a piece of steel from a conveyor and load it into a lathe may require ten different moves taking as much as ten seconds. A human operator can do the same job in the same amount of time . The increase in productivity is a result of the consistency of operation. As the human operator repeats the same job over and over during the workday, he or she begins to slow down. The robot continues to operate at its programmed speed and therefore completes more parts during the workday.Custom-built automated machines can be built to do the same jobs that robots do. An automated machine can do the same loading operation in less than half the time required by a robot or a human operator. The problem with designing a special machine is that such a machine can perform only the specific job for which it was built. If any change is made in the job, the machine must be completely rebuilt, or the machine must be scrapped and a new machine designed and built. A robot, on the other hand, could be reprogrammed and could start doing the new job the same day.Custom-built automated machines still have their place in industry. If a company knows that a job will not change for many years, the faster custom-built machine is still a good choice.Other jobs in factories cannot be done easily with custom-built machinery. For these applications a robot may be a good choice. An example of such an application is spray painting. One company made cabinets for the electronics industry. They made cabinets of many different sizes, all of which needed painting. It was determined that it was not economical for the company to build special spray painting machines for each of the different sizes of enclosures that were being built. Until robots were developed, the company had no choice but to spray the various enclosures by hand.Spray painting is a hazardous job , because the fumes from many paints are both toxic and explosive. A robot is now doing the job of spraying paint on the enclosures.A robot has been “taught” to spray all the different sizes of enclosures that the company builds. In addition, the robot can operate in the toxic environment of the spray booth without any concern for the long-term effect the fumes might have on aperson working in the booth.FLEXIBLE AUTOMATIONRobots have another advantage: they can be taught to do different jobs in the manufacturing plant. If a robot was originally purchased to load and unload a punch press and the job is no longer needed due to a change in product design, the robot can be moved to another job in the plant. For example, the robot could be moved to the end of the assembly operation and be used to unload the finished enclosures from a conveyor and load them onto a pallet for shipment.ACCURACY AND REPEATABILITYOne very important characteristic of any robot is the accuracy with which it can perform its task. When the robot is programmed to perform a specific task, it is led to specific points and programmed to remember the locations of those points. After programming has been completed, the robot is switched to “run” and the program is executed. Unfortunately, the robot will not go to the exact location of any programmed point. For example, the robot may miss the exact point by 0.025 in. If 0.025 in. is the greatest error by which the robot misses any point- during the first execution of the program, the robot is said to have an accuracy of 0.025 in.In addition to accuracy , we are also concerned with the robot’s repeatability. The repeatability of a robot is a measure of how closely it returns to its programmed points every time the program is executed. Say , for example, that the robot misses a programmed point by 0.025 in. the first time the program is executed and that, during the next execution of the program, the robot misses the point it reached during the previous cycle by 0.010 in. Although the robot is a total of 0.035 in. from the original programmed point, its accuracy is 0.025 in. and its repeatability is 0.010 in.THE MAJOR PARTS OF A ROBOTThe major parts of a robot are the manipulator, the power supply, and the controller.The manipulator is used to pick up material, parts, or special tools used in manufacturing. The power supply suppplies the power to move the manipulator. The controller controls the power supply so that the manipulator can be taught to perform its task.外文翻译工业机器人的介绍20世纪60年代当约瑟夫和乔治合作创立了名为Unimation的机器公司，工业机器人便成为了一个事实。

有关助力机械臂的参考文献

有关助力机械臂的参考文献近年来，机器人技术的快速发展在工业、医疗、军事等领域发挥了重要作用，而助力机械臂作为机器人中的重要一员，也受到了广泛关注。

助力机械臂通过增加对力矩的辅助，能够较轻松地完成各种工业生产、医疗康复等任务。

下面将介绍几篇与助力机械臂相关的参考文献。

1. "Development and Evaluation of a Passive Exoskeleton Robotfor Hand Grasp Assist" (Rahman et al., 2013)这篇研究主要介绍了一种被动助力外骨骼机器人，用于握力协助。

通过对握持动作的力矩辅助，该系统能够减轻用户手部肌肉的负担，提供更稳定和精确的握持能力。

文章详细介绍了系统的设计、制造过程以及评估结果，并提出了未来改进的方向。

2. "Design and Control of a Wearable Cable-Driven Arm Exoskeleton (CAEXO)" (Hirche et al., 2017)该文献针对肩关节损伤的康复辅助提出了一种可穿戴式的循环驱动机械臂助力外骨骼机器人。

文章介绍了该系统的设计原理、结构、关节辨识和控制方法，并通过实验验证了系统的性能和有效性。

该研究提供了一种创新的助力机械臂设计思路，为肩关节损伤康复提供了新的解决方案。

3. "A Soft Exoskeleton for Hand Assistive and Rehabilitation Application using Pneumatic Actuators" (Hani et al., 2016)本文献介绍了一种使用气动执行器的柔性助力手部外骨骼机器人。

这种系统通过气动扩张器产生力矩，以辅助手部活动，具有较低的成本和较高的柔韧性。

文章详细介绍了设计原理、结构和控制策略，并通过实验结果验证了该系统的性能和可行性。

机械臂动力学——毕业设计外文文献翻译、中英文翻译

毕业论文（设计）外文翻译题目机械臂动力学与控制的研究系部名称：机械工程系专业班级：机自学生姓名：学号：指导教师：教师职称：20**年03月20日2009年IEEE国际机器人和自动化会议神户国际会议中心日本神户12-17,2009机械臂动力学与控制的研究拉斯彼得Ellekilde摘要操作器和移动平台的组合提供了一种可用于广泛应用程序高效灵活的操作系统,特别是在服务性机器人领域。

在机械臂众多挑战中其中之一是确保机器人在潜在的动态环境中安全工作控制系统的设计。

在本文中,我们将介绍移动机械臂用动力学系统方法被控制的使用方法。

该方法是一种二级方法, 是使用竞争动力学对于统筹协调优化移动平台以及较低层次的融合避障和目标捕获行为的方法。

I介绍在过去的几十年里大多数机器人的研究主要关注在移动平台或操作系统，并且在这两个领域取得了许多可喜的成绩。

今天的新挑战之一是将这两个领域组合在一起形成具有高效移动和有能力操作环境的系统。

特别是服务性机器人将会在这一方面系统需求的增加。

大多数西方国家的人口统计数量显示需要照顾的老人在不断增加,尽管将有很少的工作实际的支持他们。

这就需要增强服务业的自动化程度，因此机器人能够在室内动态环境中安全的工作是最基本的。

图、1 一台由赛格威RMP200和轻重量型库卡机器人组成的平台这项工作平台用于如图1所示,是由一个Segway与一家机器人制造商制造的RMP200轻机器人。

其有一个相对较小的轨迹和高机动性能的平台使它适应在室内环境移动。

库卡工业机器人具有较长的长臂和高有效载荷比自身的重量,从而使其适合移动操作。

当控制移动机械臂系统时,有一个选择是是否考虑一个或两个系统的实体。

在参考文献[1]和[2]中是根据雅可比理论将机械手末端和移动平台结合在一起形成一个单一的控制系统。

另一方面,这项研究发表在[3]和[4],认为它们在设计时是独立的实体,但不包括两者之间的限制条件,如延伸能力和稳定性。

这种控制系统的提出是基于动态系统方法[5],[6]。

工业机械臂控制中英文对照外文翻译文献

中英文对照外文翻译文献(文档含英文原文和中文翻译)Hand Column Type Power MachineFollow with our country the rapid development of industrial production, rapidly enhance level of automation, implementation artifacts of handling, steering, transmission or toil for welding gun, spraing gun, spanner and other tools for processing, assembly operations for example automation, should cause the attention of people more and more.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 Logic Controller PLC-controlled robot control system for materials up and down movement is simple, circuit design is reasonable, with a strong anti-jamming capability, ensuring the system's reliability, reduced maintenance rate, and improve work efficiency. Robot technology related to mechanics, mechanics, electrical hydraulic technology, automatic control technology, sensor technology and computer technology and other fields of science, is a cross-disciplinary integrated technology.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.Manipulator institutional form is simple, strong professionalism, only as a loading device for a machine tools, special-purpose manipulator is attached to this machine. Along with the development of industrial technology, produced independently according to the process control to achieve repetitive operation, using range is wide "program control general manipulator", hereinafter referred to as general manipulator. General manipulator used to quickly change the workingprocedure, adaptability is stronger, so he is in constant transformation in the medium and small batch production of products are widely used.NO.1 The composition of the manipulatorManipulator is in the form of a variety of, some relatively simple, some more complex, but the basic form is the same, generally by the actuators, transmission system, control system and the auxiliary device.The actuator manipulator actuators, by the hand, wrist, arm, pillars. Hand is grasping mechanism, which is used to clamp and release artifacts, as a human finger, can complete staff of similar action. Is connected to the fingers and wrist arm components, can be up and down, left and right sides and rotary movement. Simple manipulator can not the wrist. Prop used to support the arm, can also according to need to make it move.The driving system movement of the actuator by the transmission system to achieve. Common mechanical transmission system of mechanical transmission, hydraulic transmission, pneumatic transmission and power transmission etc. Several forms.The control system of manipulator control system main function is to control the manipulator according to certain procedures, movement direction, position, speed, simple manipulator is generally not set special control system, only the stroke switch, relay, control valves and control circuit can realize dynamic transmission system, the executing agency action in accordance with requirements. Action complex manipulator should adopts the programmable controller, microcomputer control. NO.2 Classification and characteristics of the manipulator Robots generally fall into three categories the first is general manipulator doesn't need manual operation. It is a kind of independence is not attached to a host device. It can according to the need of the task program, the operation of the provisions to complete. It is with the characteristics of common mechanical performance, also has general machinery, memory, intelligence of three yuan. Thesecond is the need to do manually. Called Operating machine. It originated in the atom, military industry, first by Operating machine to complete a specific assignment, later to use radio signal Operating machine to explore the moon and so on. Used in the forging industry Operating machine falls under this category. The third kind is to use special manipulator, mainly attached to automatic machine or automatic line, used to solve machine tool material and workpiece to send up and down. This manipulator in a foreign country is called "the Mechanical Hand", it is in the service of the host, driven by the host; Except a few working procedures generally is fixed, so it is special.NO.3 The application of industrial manipulatorManipulator is in the process of mechanization, automation production, developed a kind of new type of device. In recent years, with electronic technology, especially the wide application of electronic computer, the robot's development and production has become a high technology developed rapidly in the field of an emerging technology, it promoted the development of the manipulator, make the manipulator can achieve better with the combination of mechanization and automation.Manipulator although it is not as flexible as manpower, but it can have repeated work and labor, do not know fatigue, is not afraid of danger, snatch heavy weights strength characteristics such as larger than man, as a result, the manipulator has been brought to the attention of the many departments, and have been applied more and more widely.(1) Machine tools machining the workpiece loading and unloading, especially in automatic lathe, use common combination machine tools.(2) Widely used in the assembly operation, it can be used to assemble printed circuit board in the electronics industry, it can be in the machinery industry to assemble parts.(3)Can be in working conditions is poor, repetitive easy fatigue of the work environment, to instead of human Labour.(4) The development of the universe and the ocean.(5) Military engineering and biomedical research and test.Application of robots can replace people in dull, repetitive or heavy manual work, to realize mechanization and automation of production, instead of human in harmful environment of manual operation, improve labor condition, ensure the personal safety. In the late 1940 s, the United States in the nuclear experiments, firstly adopts manipulator handling radioactive materials, people in the security room to manipulate manipulator for various operation and experiment. After the '50 s, robots gradually extended to industrial production department, for use in high temperature, serious pollution of local leave work pieces and the loading and unloading materials, as auxiliary device in the machine tool automatic machine, automatic production line and processing center in the application, complete the material up and down or from libraries take put the knives and replace tool operations such as fixed procedure. Manipulator is mainly composed of hand and motion mechanism. Hand mechanism varies according to the usage situation and operation object, the common are holding, hold and the adsorption type etc. Motion mechanism usually driven by hydraulic, pneumatic, electric devices. Manipulator can be achieved independently of scaling, rotation and lifting movement, generally speaking, there are 2 ~ 3 degrees of freedom. Robots are widely used in machinery manufacturing, metallurgy, light industry and atomic energy etc.Manipulator is used in the production process automation with grab and move the workpiece is a kind of automatic device, it is in the process of mechanization, automation production, developed a new type of device. In recent years, with electronic technology, especially the wide application of electronic computer, the robot's development and production has become a high technology developed rapidly in the field of an emerging technology, it promoted the development of the manipulator, make the manipulator can achieve better with the combination of mechanization and automation. Robots can replace humans do dangerous, repeat the boring work, reduce human labor intensity and improve labor productivity. Manipulator have been applied more and more widely, it can be used forparts assembled in the machinery industry, processing the workpiece handling, loading and unloading, especially on the automatic CNC machine, combination machine tools more common use. At present, the manipulator has developed into a flexible manufacturing system of FMS and flexible manufacturing cell is an important component of FMC. The machine tool equipment and manipulator of a flexible manufacturing system or flexible manufacturing unit, it is suitable for medium and small batch production, can save a large workpiece delivery device, structure is compact, but also has a strong adaptability. When the workpiece changes, flexible production system is easy to change, is advantageous to the enterprise continuously updated marketable varieties, improve product quality, better adapt to the needs of the market competition. But at present our country's industrial robot technology and its engineering application level and foreign than there is a certain distance, scale and industrialization level is low, research and development of the manipulator has direct influence on raising the automation level of production in our country, from the consideration on the economic and technology is very necessary. Therefore, carries on the research design of the manipulator is very meaningful.NO.4 The development trend of manipulatorCurrent industrial applications of the manipulator gradually expanding, constantly improve the technology performance. Due to the short development time, it has a gradual understanding of process, the manipulator and a technically perfect step by step process, its development trend is:1.To expand the application of manipulator and processing industryAt present domestic robots used in mechanical industry more in cold working operations, while in the hot work such as casting, forging, welding, heat treatment less, and the application of assembly work, etc. So processing work items heavy, complicated shape and high environmental temperature, bring many difficulties to manipulator design, manufacture, it is need to solve the technical difficulties, make the manipulator to better service for processing work. At the same time, in otherindustries and industrial sectors, also will with the constant improvement of the industrial technology level, and gradually expand the use of the manipulator2.Improve the work performance of the industry manipulatorManipulator in the working performance of the pros and cons, determines the application and production, it can normal manipulator working performance of the repetitive positioning accuracy and speed of work two indicators, decided to ensure the quality of manipulator can complete the operation of the key factors. Therefore to solve good working stability and rapidity of the manipulator's request, besides from solve buffer localization measures, should also be development meet the requirements of mechanical properties and low price of electro-hydraulic servo valve, servo control system was applied to the mechanical hand.3.Development of modular robotsVariable application manipulator from the characteristics of the manipulator itself, more adapted to the product type, equipment updates, many varieties, small batch, but its cost is high, the special manipulator and cheap, but the scope is limited. Therefore, for some special purpose, you need special design, special processing, thus improving the product cost. In order to adapt to the request of the application field of classify, the structure of the manipulator can be designed to the form of combination. Modular manipulator is a common parts according to the requirement of the job, select necessary to accomplish the function of the unit components, based on the base of combination, deserve to go up with adaptive control part, namely the manipulator with special requirements can be completed. It can simplify the structure, take into account the specificity and design on the use of generality, more in the series design and organization of standardization, specialized production, to improve quality and reduce cost of the manipulator, is a kind of promising manipulator4. Has a "vision" and "touch" of so-called "intelligent robots"For artificial has flexible operation and the need for judgment of the situation, industrial manipulator is very difficult to replace human labor. Such as in the working process of the accident, disorders and conditions change, etc., manipulator cannot be automatically distinguish correct, but to stop, after waiting for people to rule outaccident can continue to work. As a result, people puts forward higher requirements on mechanical hand, hope to make it a "vision", "touch", etc, make it to the judgment, the choice of object, can be continuously adjusted to adapt to changing conditions, and can perform a "hand - eye coordination. This requires a computer can handle a lot of information, require them to exchange of information with machine "dialogue".This "vision", "touch" feedback, controlled by computer, is one part of the "smart" mechanism is called "intelligent robots". Is the so-called "smart" includes: the function of recognition, learning, memory, analysis, judgment. And recognition is through the "visual", "touch" and "hearing" feel "organ" of cognitive object.Which has the function of sensory robot, its performance is perfect, can accurately clamping arbitrary azimuth objects, determine an object, weight, work over obstacles, the clamping force is measured automatically, and can automatically adjust, suitable for engaged in the operation of the complex, precision, such as assembly operation, it has a certain development prospects.Intelligent robots is an emerging technology, the study of it will involve the electronic technology, control theory, communication technology, television technology, spatial structure and bionic mechanical discipline. It is an emerging field of modern automatic control technology. With the development of science and intelligent robots will replace people to do more work.工业机械手随着我国工业生产的飞跃发展，自动化程度的迅速提高，实现工件的装卸、转向、输送或是操持焊枪、喷枪、扳手等工具进行加工、装配等作业的自动化，应越来越引起人们的重视。

机械手英语文献翻译

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。

机械臂外文文献以和翻译

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施。

工业机械手是工业机器人的一个重要分支。

它的特色是可经过编程来达成各样预期的作业任务，在结构和性能上兼有人和机器各自的长处，特别表现了人的智能和适应性。

机械手作业的正确性和各样环境中达成作业的能力，在公民经济各领域有着广阔的发展远景。

跟着工业自动化的发展, 出现了数控加工中心, 它在减少工人的劳动强度的同时, 大大提升了劳动生产率。

但数控加工中常有的上下料工序, 往常仍采用人工操作或传统继电器控制的半自动化妆置。

前者费时费工、效率低; 后者因设计复杂, 需许多继电器, 接线繁琐, 易受车体振动扰乱, 而存在靠谱性差、故障多、维修困难等问题。

可编程序控制器PLC控制的上下料机械手控制系统动作简便、线路设计合理、拥有较强的抗扰乱能力, 保证了系统运转的靠谱性, 降低了维修率, 提升了工作效率。

机械手技术波及到力学、机械学、电气液压技术、自动控制技术、传感器技术和计算机技术等科学领域，是一门跨学科综合技术。

一、工业机械手的概括机械手是一种能自动化定位控制并可从头编程序以改动的多功能机器，它有多个自由度，可用来搬运物体以达成在各个不一样环境中工作。

在薪资水平较低的中国，塑料制品德业只管仍属于劳动力密集型，机械手的使用已经愈来愈普及。

那些电子和汽车业的欧美跨国公司很早就在它们设在中国的工厂中引进了自动化生产。

但此刻的变化是那些散布在工业密集的华南、华东沿海地域的中国本地塑料加工厂也开始对机械腕表现出愈来愈浓重的兴趣，因为他们要面对工人流失率高，以及为工人交工伤费带来的挑战。

跟着我国工业生产的飞腾发展，特别是改革开发此后，自动化程度的快速提高，实现工件的装卸、转向、输送或操作钎焊、喷枪、扳手等工具进行加工、装配等作业自化，已愈来愈惹起我们重视。

机械手是模拟着人手的部分动作，按给定的程序、轨迹和要务实现自动抓取、搬运或操作的自动机械装置。

机械臂动力学与控制的研究外文翻译

〔3〕
其中是b和r 竞争优势产生的参数，b是和b相互竞争作用的参数。
1〕移动：在移动平台远离目标时它的竞争优势应该被加强；当目标被捕捉时移动平台的竞争优势应该被降低。这是通过〔4〕实现的。
〔4〕
其中，决定如何迅速的改变这种优势，是指到目标的距离和是指移动平台移动目标所需的最小距离。
移动的行为，没有能力进行互动，并抑制其他行为，因此它的竞争性相互作用被设置为0。
机械臂动力学与控制的研究外文翻译
毕业论文〔设计〕
外文翻译
题目机械臂动力学与操纵的研究
系部名称：机械工程系专业班级：机自
学生姓名：学号：
指导教师：教师职称：
2020年03月20日
2020年IEEE国际机器人和自动化会力学与操纵的研究
拉斯彼得Ellekilde
这种操纵系统的提出是基于动态系统方法[5],[6]。它分为两个层次，其中我们在较低的水平，并考虑到移动平台作为两个独立的实体，然后再以安全的方式结合在上层操纵者。在本文中要紧的研究目的是展现动力系统方法能够应用于移动机械臂和使用各级和谐行为的操纵。
本文剩下的安排如下。第二部分介绍系统的总体结构设计,其次是机械手末端移动平台的操纵在第三第四部分讲述。在第五部分我们在终止本文之前将显示一些实验。然而,第一与动力学系统有关工作总结与方法将在在部分I-A提供。
(13)
(14)
其中和是吸引子的优势参数和表示运动到目标的方向。常数表达出机械手到目标之间的距离和所需的速度关系。最后最大速度是指移动平台所承诺的最大速度。
B.障碍动态
假定一个距离，方向参数表示机械手到第i个障碍的方向，在避障的动力学中用公式〔15〕〔16〕表示如下：
(15)
(16)