机器人移动平台设计中英文翻译

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机器人机构设计中英文对照外文翻译文献

Instiபைடு நூலகம்ute of Printing and Packing Engineering, Xi'an University of Technology
Abstract
In optimal design for robot structures, design modelsneed to he modified and computed repeatedly. Becausemodifying usually can not automaticallyberun, itconsumes a lot of time.Thispaper gives a method thatuses APDL language of ANSYS5.5software togenerate an optimal control program, which mikeoptimal procedure run automatically and optimalefficiency be improved.
A lot of methods are used in optimization design ofstructure. Finite element method is a much effectivemethod. In general, modeling and modifying are manual,whichisfeasible when model is simple. When modeliscomplicated, optimization timeislonger. In the longeroptimization time, calculation time is usually very little,a majorityoftime is used for modeling and modifying.It is key of improving efficiency of structureoptimization how to reduce modeling and modifyingtime.

Robots机器人中英文翻译

RobotsA robot is an automatically controlled, reprogrammable, multipurpose, mani pulating machine with several reprogrammable axes, which may be either fixed in place or mobile for use in industrial automation applications.The key words are reprogrammable and multipurpose because most single-purpose machines do not meet these two requirements.The term”reprogrammabl e” implies two things:The robot operates according to a written program can b e rewritten to accomdate a variety of manufacturing tasks. The term “multipurp ose” means that the robot can perform many different functions, depending on the program and tooling currently in use.Over the past two decades,the robot has been introduced into industry to perform many monotonous and often unsafe operations. Because robots can per form certain basic tasks more quickly and accurately than humans, they are bei ng increasingly used in various manufacturing industries.Structures of RobotsThe typical structure of industrial robots consists of 4 major components: the manipulator, the end effector, the power supply and control syterm.The manipulator is a mechanical unite that provides motions similar to those of a human arm. It often has a shoulder joint,an elbow and a wrist. It can rotate or slide, strech out and withdraw in every possible direction with certain flexibility.The basic mechanical configurations of the robot manipulator are categorized as Cartesian, cylindrical, spherical and articulated.A robot with a Cartesian geometry can move its gripper to any position within the cube or rectangle defined as its working volum.Cylindrical coordinate robots can move the gripper within a volum that is described by a cylinder. The cylindrical coordinate robot is positioned in the work area by two linear movements in the X and Y directions and one angular rotation about the Z axis.Spherical arm geometry robots have an irregular work envelop. This type of robot has two main variants,vertically articulated and horizontally articulated.The end effector attaches itself to the end of the robot wrist, also called end-of-arm tooling.It is the device intended for performing the designed operations as a human hand can.End effectors are generally custom-made to meet special handling requirements. Mechanical grippers are the most commonly used and are equipped with two or more fingers.The selection of an appropriate end effector for a special application depends on such factors as the payload, enviyonment,reliability,and cost.The power supply is the actuator for moving the robot arm, controlling the joints and operating the end effector. The basic type of power sources include electrical,pneumatic, and hydraulic. Each source of energy and each type of motor has its own characteristics, advantages and limitations. An ac-powered motor or dc-powered motor may be used depending on the system design and applications. These motors convert electrical energy into mechanical energy to power the robot.Most new robots use electrical power supply. Pneumatic actuators have been used for high speed. Nonservo robots and are often used for powering tooling such as grippers. Hydraulic actuators have been used for heavier lift systems, typically where accuracy was not also requied.The contro system is the communications and information-processing system that gives commands for the movements of the robot. It is the brain of the robot; it sends signals to the power source to move the robot arm to a specific position and to the end effector.It is also the nerves of the robot; it is reprogrammable to send out sequences of instructions for all movements and actions to be taken by the robot.A open-loop controller is the simplest for of the control system, which controls the robot only by foolowing the predetermined step-by-step instructions.This system dose not have a self-correcting capability.A close-loop control system use feedback sensors to produce signals that reflct the current states of the controed objects. By comparing those feedback signals with the values set by the programmer, the close-loop controller can conduct the robot to move to the precise position and assume the desired attitude, and the end effector can perform with very high accuracy as the close-loop control system can minimize the discrepancy between the controlled object and the predetermined references.Classification of RobotIndustrial robots vary widely in size,shape, number of axes,degrees of freedom, and design configuration. Each factor influence the dimensions of the robot’s working envelop or the volume of space within which it can move and perform its designated task. A broader classification of robots can been described as below.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 form point to point, and the cycle is repeated continuously.The variable-sequence robot can be programmed for a specific sequence of operations but can be programmed 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 servocontrolled by digital data, and its sequence of movements can be changed with relative ease.Intelligent Robot. The intelligent robot is capable of performing some of the functions and tasks carried out by huanbeings.It is equipped with a variety of sensors with visual and tactile capabilities.Robot ApplicationsThe robot is a very special type of productin 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 tools to process the raw material. For example, the robot tools could include a drill and the robot would be able to perfor drilling operaytions on raw material.Material handling consists of the loading, unloading, and transferring of workpieces in manufacturing facilities. These operations can be performed relatively and repeatedly with robots, thereby improving quality and 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 concers.机器人机器人是一种自动控制的、可重复编程的、多功能的、由几个可重复编程的坐标系来操纵机器的装置，它可以被固定在某地，还可以是移动的以在工业自动化工厂中使用。

步行机器人中英文对照外文翻译文献

步行机器人中英文对照外文翻译文献(文档含英文原文和中文翻译)图1 远程脑系统的硬件配置图2 两组机器人的身体结构图3 传感器的两个水银定位开关图4 层次分类图5 步行步态该输入处理器是作为参考程序块和一个图像搜索窗口形象该大小的搜索窗口取决于参考块的大小通常高达16 * 16且匹配。

该处理器计算价值块在搜索窗口，还找到最佳匹配块，这就是其中的最低当目标平移时块匹配是非常有力的。

然而，普通的块匹配方法当它旋转时无法跟踪目标。

为了克服这一困难，我们开发了一种新方法，跟随真正旋转目标的图6 双足步行图6 双足步行图7 双足步行实验图8 一系列滚动和站立运动通过集成传感器网络转型的综合为了使上述描述的基本动作成为一体，我们通过一种方法来描述一种被认为是根据传感器状况的网络转型。

图9显示了综合了基本动作机器人的状态转移图：两足行走，滚动，坐着和站立。

这种一体化提供了机器人保持行走甚至跌倒时的problems and advance the study of vision-based behaviors, we have adopted a new approach through building remote-brained robots. The body and the brain are connected by wireless links by using wireless cameras and remote-controlled actuators.As a robot body does not need computers on-board,it becomes easier to build a lightweight body with many DOFS in actuation.In this research, we developed a two-armed bipedal robot using the remote-brained robot environment and made it to perform balancing based on vision and getting up through cooperating arms and legs. The system and experimental results are described below.2 The Remote-Brained SystemThe remote-brained robot does not bring its own brain within the body. It leaves the brain in the mother environment and communicates with it by radio links. This allows us to build a robot with a free body and a heavy brain. The connection link between the body and the brain defines the interface between software and hardware. Bodies are designed to suit each research project and task. This enables us advance in performing research with a variety of real robot systems[10].A major advantage of remote-brained robots is that the robot can have a large and heavy brain based on super parallel computers. Although hardware technology for vision has advanced and produced powerful compact vision systems, the size of the hardware is still large. Wireless connection between the camera and the vision processor has been a research tool. The remote-brained approach allows us to progress in the study of a variety of experimental issues in vision-based robotics.Another advantage of remote-brained approach is that the robot bodies can be lightweight. This opens up the possibility of working with legged mobile robots. AsFigure 4 shows some of the classes in the programming environent for remote-brained robot written in Euslisp. The hierachy in the classes provides us with rich facilities for extending development of various robots.4 Vision-Based BalancingThe robot can stand up on two legs. As it can change the gravity center of its body by controling the ankle angles, it can perform static bipedal walks. During static walking the robot has to control its body balance if the ground is not flat and stable.In order to perform vision-based balancing it is re-quired to have high speed vision system to keep ob-serving moving schene. We have developed a tracking vision board using a correlation chip[l3]. The vision board consists of a transputer augmented with a special LSI chip(MEP[14] : Motion Estimation Processor) which performs local image block matching.The inputs to the processor MEP are an image as a reference block and an image for a search window.The size of the reference blsearch window depends on the size of the reference block is usually up to 32 by 32 pixels so that it can include 16 * 16 possible matches. The processor calculates 256 values of SAD (sum of absolute difference) between the reference block and 256 blocks in the search window and also finds the best matching block, that is, the one which has the minimum SAD value.Clock is up to 16 by 16 pixels.The size of the search window depends on the size of the reference block is usually up to 32 by 32 pixels so that it can include 16 * 16 possible matches. The processor calculates 256 values of SAD (sum of absolute difference) between the reference block and 256 blocks in the search window and also finds the best matching block, that is, the one which has the minimum SAD value.Block matching is very powerful when the target moves only in translation. However, the ordinary block matching method cannot track the target when it rotates. In order to overcome this difficulty, we developed a new method which follows up the candidate templates to real rotation of the target. The rotated template method first generates all the rotated target images in advance, and several adequate candidates of the reference template are selected and matched is tracking the scene in the front view. It remembers the vertical orientation of an object as the reference for visual tracking and generates several rotated images of the reference image. If the vision tracks the reference object using the rotated images, it can measures the body rotation. In order to keep the body balance, the robot feedback controls its body rotation to control the center of the body gravity. The rotational visual tracker[l5] can track the image at video rate.5 Biped WalkingIf a bipedal robot can control the center of gravity freely, it can perform biped walk. As the robot shown in Figure 2 has the degrees to left and right directions at the ankle position, it can perform bipedal walking in static way.The motion sequence of one cycle in biped walking consists of eight phases as shown in Figure 6. One step consists of four phases; move-gravity-center-on-foot,lift-leg, move-forward-leg, place-leg. As the body is described in solid model, the robot can generate a body configuration for move-gravity-center-on-foot according to the parameter of the hight of the gravity center. After this movement, the robot can lift the other leg and move it forward. In lifting leg, the robot has to control the configuration in order to keep the center of gravity above the supporting foot. As the stability in balance depends on the hight of the gravity center, the robot selects suitable angles of the knees.Figure 7 shows a sequence of experiments of the robot in biped walking6 Rolling Over and Standing UpFigure 8 shows the sequence of rolling over, sitting and standing up. This motion requires coordination between arms and legs.As the robot foot consists of a battery, the robot can make use of the weight of the battery for the roll-over motion. When the robot throws up the left leg and moves the left arm back and the right arm forward, it can get rotary moment around the body. If the body starts turning, the right leg moves back and the left foot returns its position to lie on the face. This rollover motion changes the body orientation from face up to face down. It canbe verified by the orientation sensor.After getting face down orientation, the robot moves the arms down to sit on two feet. This motion causes slip movement between hands and the ground. If the length of the arm is not enough to carry the center of gravity of the body onto feet, this sitting motion requires dynamic pushing motion by arms. The standing motion is controlled in order to keep the balance.7 Integration through Building Sensor-Based Transition NetIn order to integrate the basic actions described above, we adopted a method to describe a sensor-based transition network in which transition is considered according to sensor status. Figure 9 shows a state transition diagram of the robot which integrates basic actions: biped walking, rolling over, sitting, and standing up. This integration provides the robot with capability of keeping walking even when it falls down.The ordinary biped walk is composed by taking two states, Left-leg Fore and Right-leg Fore, successively.The poses in ‘Lie on the Back’ and ‘Lie on the Face’are as same as one in ‘Stand’. That is, the shape ofthe robot body is same but the orientation is different.The robot can detect whether the robot lies on the back or the face using the orientation sensor. When the robot detects falls down, it changes the state to ‘Lie on the Back’ or ‘Lie on the Front’ by moving to the neutral pose. If the robot gets up from ‘Lie on the Back’, the motion sequence is planned to exe cute Roll-over, Sit and Stand-up motions. If the state is ‘Lie on the Face’, it does not execute Roll-over but moves arms up to perform the sitting motion.8 Concluding RemarksThis paper has presented a two-armed bipedal robot which can perform statically biped walk, rolling over and standing up motions. The key to build such behaviors is the remote-brained approach. As the experiments have shown, wireless technologies permit robot bodies free movement. It also seems to change the way we conceptualize robotics. In our laboratory it has enabled the development of a new research environment, better suited to robotics and real-world AI.The robot presented here is a legged robot. As legged locomotion requires dynamic visual feedback control, its vision-based behaviors can prove the effectiveness of the vision system and the remote-brained system. Our vision system is based on high speed block matching function implemented with motion estimation LSI. The vision system provides the mechanical bodies with dynamic and adaptive capabilities in interaction with human. The mechanical dog has shown adaptive behaviors based on distance。

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。

搬运拖车移动机器人中英文对照外文翻译文献

中英文资料外文翻译文献(文档含英文原文和中文翻译)一种实用的办法--带拖车移动机器人的反馈控制摘要本文提出了一种有效的方法来控制带拖车移动机器人。

轨迹跟踪和路径跟踪这两个问题已经得到解决。

接下来的问题是解决迭代轨迹跟踪。

并且把扰动考虑到路径跟踪内。

移动机器人Hilare的实验结果说明了我们方法的有效性。

1引言过去的8年，人们对非完整系统的运动控制做了大量的工作。

布洛基[2]提出了关于这种系统的一项具有挑战性的任务，配置的稳定性，证明它不能由一个简单的连续状态反馈。

作为替代办法随时间变化的反馈[10,4,11,13,14,15,18]或间断反馈[3]也随之被提出。

从[5]移动机器人的运动控制的一项调查可以看到。

另一方面，非完整系统的轨迹跟踪不符合布洛基的条件，从而使其这一个任务更为轻松。

许多著作也已经给出了移动机器人的特殊情况的这一问题[6,7,8,12,16]。

所有这些控制律都是工作在相同的假设下：系统的演变是完全已知和没有扰动使得系统偏离其轨迹。

很少有文章在处理移动机器人的控制时考虑到扰动的运动学方程。

但是[1]提出了一种有关稳定汽车的配置，有效的矢量控制扰动领域，并且建立在迭代轨迹跟踪的基础上。

存在的障碍使得达到规定路径的任务变得更加困难，因此在执行任务的任何动作之前都需要有一个路径规划。

在本文中，我们在迭代轨迹跟踪的基础上提出了一个健全的方案，使得带拖车的机器人按照规定路径行走。

该轨迹计算由规划的议案所描述[17]，从而避免已经提交了输入的障碍物。

在下面，我们将不会给出任何有关规划的发展，我们提及这个参考的细节。

而且，我们认为，在某一特定轨迹的执行屈服于扰动。

我们选择的这些扰动模型是非常简单，非常一般。

它存在一些共同点[1]。

本文安排如下：第2节介绍我们的实验系统Hilare及其拖车：两个连接系统将被视为（图1）。

第3节处理控制方案及分析的稳定性和鲁棒性。

在第4节，我们介绍本实验结果。

图1带拖车的Hilare2 系统描述Hilare是一个有两个驱动轮的移动机器人。

Robots机器人中英文翻译

Robots机器人中英文翻译Robots机器人With advancements in technology, robots have become an integral part of our daily lives. From manufacturing industries to healthcare and even our homes, robots are taking over various tasks and transforming the way we live. In this article, we will explore the significance of robots and discuss their benefits and drawbacks.机器人在科技的进步下，在我们的日常生活中变得不可或缺。

从制造业到医疗保健，甚至到我们的家庭，机器人正在接管各种任务，改变着我们的生活方式。

本文中，我们将探讨机器人的重要性，并讨论他们的利与弊。

1. The Advantages of Robots 机器人的优势Robots offer numerous benefits in various aspects of our society. Firstly, they improve productivity and efficiency in industries. With their precision and speed, robots can carry out tasks more accurately and faster compared to humans. This leads to increased production rates and reduced errors, ultimately resulting in cost savings for businesses.Secondly, robots minimize the risk to humans in dangerous and hazardous situations. They can be programmed to perform tasks in hazardous environments such as nuclear power plants, mines, or disaster-stricken areas. This reduces the chances of human injuries or fatalities.Thirdly, robots contribute to medical advancements by assisting in surgeries and healthcare. Surgical robots, for example, aid doctors inperforming intricate procedures with enhanced precision and control. Furthermore, robots can also assist with patient care, such as providing support to the elderly or individuals with disabilities.机器人在我们社会的各个方面都提供了众多的优势。

外文文献及翻译_MobileRobotVehicles移动机器人车辆

外文翻译译文题目 _________________ 移动机器人车辆______________________ 原稿题目 ___________ Mobile Robot Vehicles _______________ 原稿出处Peter Corke.RoboticsMsion and control[M].Australia: Sprin ger Tracts in Adva need Robotics.2011移动机器人车辆这一章讨论如何移动机器人平台，它带来一个随时间变化的函数来控制。

有许多不同的类型，如61页到63页所示的机器人平台。

但我们在本章将考虑只有两种机器人平台具有重要意义。

第一种平台是一个轮子，像一辆汽车，在二维世界运行。

它可以改变轮子的角度使汽车向前或向后移动并控制方向的变化。

第二个平台是一个直升机，在三维运动中，这是一种典型的机器人直升机正变得越来越流行。

平台就像一个机器人，因为他们可以很容易地被模仿和控制。

4.1灵活性我们已经谈到的多样性和移动机器人的运动方式，在这个部分中我们将讨论有关机器人平台的灵活性与及它如何在空间移动。

我们先来考虑一下这个简单的例子：一列火车。

从一些资料上显示，火车在轨道运行，可以通过它的距离来描述它的位置。

通过一个标量参数q,火车可以被完全的描述，叫做广义。

集合所有可能的配置就是配置空间，用q€C来表示。

在这种情况下C? R。

我们也说火车上有一个自由度，因为q是一个标量。

这趟列车也有一个驱动器(电机)，驱使它沿轨道向前或向后。

火车通过电机和自由度充分的驱动，可以到达任意配置空间，就是说可以沿轨道的任何位置。

另一个重要的概念，移动装置三€ T是一套任务空间所有可能的姿势。

这项任务空间取决于应用程序或任务。

如果我们的任务是沿轨道运动，那么T? R。

如果我们只关心这个火车的位置，那么在一个平面上T? R2如果我们认为是一个三维世界，那么T ? SE(3)，它的上下移动可以改变高度的变化。

搬运机器人毕业设计 (含外文翻译)

1 前言众所周知随着社会的不断发展，各行各业的分工越来越明细，尤其是在现代化的大产业中，有的人每天就只管拧一批产品的同一个部位上的一个螺母，有的人整天就是接一个线头，人们感到自己在不断异化，各种职业病逐渐产生，于是人们强烈希望用某种机器代替自己工作，因此人们研制出了机器人，用以代替人们去完成那些单调、枯燥或是危险的工作。

搬运机器人的显著特点是无人驾驶，它装备有自动导向系统，可以保障系统在不需要人工引航的情况下就能够沿预定的路线自动行驶，将货物或物料自动从起始点运送到目的地。

1搬运机器人的另一个特点是柔性好，自动化程度高和智能化水平高，它的行驶路径可以根据仓储货位要求、生产工艺流程等改变而灵活改变，并且运行路径改变的费用与传统的输送带和刚性的传送线相比非常低廉。

搬运机器人一般配备有装卸机构，可以与其他物流设备自动接口，实现货物和物料装卸与搬运全过程自动化。

此外，搬运机器人还具有清洁生产的特点，依靠自带的蓄电池提供动力，运行过程中无噪声、无污染，可以应用在许多要求工作环境清洁的场所。

搬运机器人作为一种成熟的产品和技术在发达国家已经广泛应用，对企业提高生产效率降低成本提高产品质量提高企业生产管理水平起到了显著的作用。

随着工业自动化的发展，国内外的应用和需求越来越强烈，已经约有千台AGV 在使用，而且市场在逐渐扩大。

根据初步市场调查分析，今后5 年内，国内各行业对AGV 需求量可达数千台，年产值接近2 亿元，经济效益十分可观。

1.1 国内外的发展现状总结一下，我们认为，机器人有三个发展阶段，那么也就是说，我们习惯于把机器人分成三类，一种是第一代机器人，那么也叫示教再现型机器人，它是通过一个计算机，来控制一个多自由度的一个机械，通过示教存储程序和信息，工作时把信息读取出来，然后发出指令，这样的话机器人可以重复的根据人当时示教的结果，再现出这种动作，比方说汽车的点焊机器人，它只要把这个点焊的过程示教完以后，它总是重复这样一种工作，它对于外界的环境没有感知，这个操作力的大小，这个工件存在不存在，焊的好与坏，它并不知道，那么实际上这种第一代机器人，也就存在它这种缺陷。

机器人外文翻译(中英文翻译)

机器人外文翻译(中英文翻译)机器人外文翻译(中英文翻译)With the rapid development of technology, the use of robots has become increasingly prevalent in various industries. Robots are now commonly employed to perform tasks that are dangerous, repetitive, or require a high level of precision. However, in order for robots to effectively communicate with humans and fulfill their intended functions, accurate translation between different languages is crucial. In this article, we will explore the importance of machine translation in enabling robots to perform translation tasks, as well as discuss current advancements and challenges in this field.1. IntroductionMachine translation refers to the use of computer algorithms to automatically translate text or speech from one language to another. The ultimate goal of machine translation is to produce translations that are as accurate and natural as those generated by human translators. In the context of robots, machine translation plays a vital role in allowing them to understand and respond to human commands, as well as facilitating communication between robots of different origins.2. Advancements in Machine TranslationThe field of machine translation has experienced significant advancements in recent years, thanks to breakthroughs in artificial intelligence and deep learning. These advancements have led to the development of neural machine translation (NMT) systems, which have greatly improved translation quality. NMT models operate by analyzinglarge amounts of bilingual data, allowing them to learn the syntactic and semantic structures of different languages. As a result, NMT systems are capable of providing more accurate translations compared to traditional rule-based or statistical machine translation approaches.3. Challenges in Machine Translation for RobotsAlthough the advancements in machine translation have greatly improved translation quality, there are still challenges that need to be addressed when applying machine translation to robots. One prominent challenge is the variability of language use, including slang, idioms, and cultural references. These nuances can pose difficulties for machine translation systems, as they often require a deep understanding of the context and cultural background. Researchers are currently working on developing techniques to enhance the ability of machine translation systems to handle such linguistic variations.Another challenge is the real-time requirement of translation in a robotic setting. Robots often need to process and translate information on the fly, and any delay in translation can affect the overall performance and efficiency of the robot. Optimizing translation speed without sacrificing translation quality is an ongoing challenge for researchers in the field.4. Applications of Robot TranslationThe ability for robots to translate languages opens up a wide range of applications in various industries. One application is in the field of customer service, where robots can assist customers in multiple languages, providing support and information. Another application is in healthcare settings, where robots can act as interpreters between healthcare professionals and patientswho may speak different languages. Moreover, in international business and diplomacy, robots equipped with translation capabilities can bridge language barriers and facilitate effective communication between parties.5. ConclusionIn conclusion, machine translation plays a crucial role in enabling robots to effectively communicate with humans and fulfill their intended functions. The advancements in neural machine translation have greatly improved translation quality, but challenges such as language variability and real-time translation requirements still exist. With continuous research and innovation, the future of machine translation for robots holds great potential in various industries, revolutionizing the way we communicate and interact with technology.。

Robots机器人中英文翻译

外文文献翻译、摇臂式煤矿救援机器人移动平台外文翻译、中英文翻译

翻译部分：英文原文Mobile platform of rocker-type coal mine rescue robotLI Yunwang, GE Shirong, ZHU Hua, FANG Haifang, GAO JinkeSchool of Mechanical and Electrical Engineering, China University of Mining & Technology, Xuzhou 221008,ChinaAbstract: After a coal mine disaster, especially a gas and coal dust explosion, the space-restricted and unstructured underground terrain and explosive gas require coal mine rescue robots with good obstacle surmounting performance and explosion-proof capability. For this type of environment, we designed a mobile platform for a rocker-type coal mine rescue robot with four independent drive wheels. The composi- tion and operational principles of the mobile platform are introduced, we discuss the flameproof design of the rocker assembly, as well as the operational principles and mechanical structure of the bevel gear differ- ential and the main parameters are provided. Motion simulation of the differential function and condition of the robot running on virtual, uneven terrain is carried out with ADAMS. The simulation results show that the differential device can maintain the main body of the robot at an average angle between two rockers. The robot model has good operating performance. Experiments on terrain adaptability and surmounting obstacle performance of the robot proto- type have been carried out. The results indicate that the prototype has good terrain adaptability and strong obstacle-surmounting performance.Keywords: coal mine; rescue robot; rocker suspension; differential; explosion-proof design1 IntroductionIn the rescue mission of a gas and coal dust explosion, rescuers easily get poisoned in underground coalmines full of toxic gases, such as high-concentration CH4 and CO, if ventilation and protection are not up to snuff. Furthermore, secondary or multiple gas explosions may be caused by extremely unstable gases after such a disaster and may cause casualties among the rescuers[1]. Therefore, in order to perform rescue missions successfully, in good time and decrease casualties, it is necessary to develop coal mine rescue robots. They are then sent to enter the disaster area instead of rescuers and carry out tasks of environmental detection, searching for wounded miners and victims after the disaster has occurred.The primary task of the robots in rescue work is to enter the disaster area. It is difficult for robots to move into restricted spaces and unstructured underground terrain, so these mobile systems require good obstacle-surmounting performance and motion performance in this rugged environment[2]. The application of some sensors used for terrain identification are severely restricted by low visibility and surroundings full of explosive gas and dust; hence, a putative mobile system should, as much as possible, be independent from sensing and control systems[3].Studies of coal mine rescue robots are just beginning at home and abroad. Most robot prototypes are simple wheel type and trackrobots. The mine explora- tion robot RATLER, developed by the Intelligent Systems and Robotics Center (ISRC) of Sandia National Laboratories, uses a wheel type mobile system[4]. The Carnegie Mellon University Robot Research Center developed an autonomous mine exploration robot, called “groundhog”[5]. Both the mine rescue robot V2 produced by the American Remote Company and the mine search and rescue robot CUMT-1 developed by China University of Mining and Technology, use a two-track fixed type moving system[6-7]. These four prototypes are severely limited in underground coal mines. Rocker type robots have demonstrated good performance on complex terrain.All three Mars rovers, i.e., Sojourner, Spirit and Opportunity used mobile systems with six independent drive wheels[8-9]. Rocker-Bogie, developed by the American JPL laboratory has landed successfully on Mars. The SRR robot from the JPL laboratory with four independent drive and steering wheels consists of a moving rocker assembly system, similar to the four wheel-drive SR2 developed by the Univer- sity of Oklahoma, USA[10]. Both tests and practical experience have shown that this type of system has good motion performance, can adapt passively to uneven terrain, possesses the ability of self adaptation and performs well in surmounting obstacles. Given the unstructured underground terrain environment and an atmosphere of explosive gases, we investigated a coal mine rescue robot with four independent drive wheels and an explosion-proof design, based on a rocker as sembly structure. We introduce the composition and opera- tional principles of this mobile system, discuss the design method of its rocker assembly and differential device and carried out motion simulation of the kinematic performance of the the robot with on ADAMS, a computer software package. In the end, we tested the terrain adaptability and performance of the prototype in surmounting obstacles.2 Mobile platform[11-12]Of As shown in Fig 1, the mobile platform of the rocker-type four-wheel coal mine rescue robot includes a main body, a gear-type differential device,two rocker suspensions and four wheels. The the shell of the differential device is attached to the interior of the the main body The two extended shafts of the differential device are supported by the axle seats in the of lat-to early plate of the main the body and connected to the rocker suspensions installed at both sides of the main the body. of The four wheels are separately connected to the of bevel gear, transmission at the the terminal of the four landing stretch our legs. at The four wheels are independently driven by a DC motor is installed inside the landing stretch our legs. of the rocker suspension flameproof design of the to stretch our legs. has been developed,which includes a flameproof motor cavity from and a flameproof connection cavity. Via a cable entry device, the power and control of the DCmotor cables are connected to the power and controller of the main the body.2.1 Rocker suspension2.1.1 FunctionThe primary role of the rocker suspension is to provide the mobile platform with a mobile system that can adapt to the unstructured underground terrain,such as rails, steps, ditches and deposit of rock and coal dumps because of the collapse of the tunnel roof after a disaster. By connecting the differential device intermediate between the two rocker suspensions, the four drive wheels can touch the uneven ground passively and the wheels can bear the average load of the robot so that it is able to cross soft terrain. The wheels can supply enough propulsion, which allows the ro bot to surmount obstacles and pass through uneven terrain.2.1.2StructureAs shown in Fig. 1, the rocker suspension is composed of a connecting block, landing legs and bevel gear transmissions. The angle between the landing legs on each side of the main body is carefully calibrated. The legs are connected to the connecting block and the terminals, which in turn are connected to the bevel gear transmissions. Fig. 2 illustrates the cal. The DC motor is in the leg and fixed to the connecting cylinder. The motor shaft connects to the bevel gear transmission and the wheel is also connected to the transmission. The upper section has a blind center hole through witch a connection is formed to the bottom section, via a connection cavity.Through the cable entry device of the upper section,the motor power and control cable from the main body of the robot are put into the connection cavity and connect to the wiring terminals which, in turn,connect to the guidance wires in the wire holder. Another end of the guidance wires connects to the motor in the bottom section.A coal mine environment is full of explosive gases;hence, a rescue robot must be designed to be flame-proof. The DC motors, for driving each wheel, are installed in the landing legs of the rocker suspensions.At the present low-powered DC motors, available in the market, are of a standard design and not flame-proof, hence a flame proof structure for these motors must be designed. Given the structural features of the rocker suspension, it is very much necessary that a flame proof design for the landing legs be carried out.There are two important points to be considered in this flameproof design. First, a flameproof cavity is needed, in which the standard DC motor is installed. Given the flameproof design requirements, a group of flameproof joints should be formed between the motor shaft and the shaft hole. Generally, the motor shaft made by the manufacturer is too short to comply with the requirement of flameproof joints, so the motor shaft needs to be extended. Second, a flameproof connection cavity should be designed to lead the cable into the connection cavity through a flameproof cable entry device. DC motors, especially brush DC motors, may generate sparks in normal running and when the motor load is high, the working current may be more than 5 A, which exceeds the current limit in Appendix C2 of the National Standard GB3836.2-2000 of China. Therefore, the motor power and control- cable cannot be directly in the connection cavity.Given these requirements, the landing legs have been designed as flameproof units, as shown in Fig. 2.An elongated shaft sleeve has been assembled from the motor shaft, with the same inside radius as that ofthe motor shaft and this is how the motor shaft is extended. The front flange of the motor is fixed to the intermediate plate of the connecting cylinder. The motor shaft with the shaft sleeve passes through the center hole embedded with a brass bush and then connects to the input gear of the bevel gear transmission at the end of the bottom section of the landing leg. Therefore, flameproof joints are formed between the motor shaft and the shaft sleeve, as well as between the shaft sleeve and the brass bush. The terminal of the bottom section of the leg connects to the connecting cylinder and a flameproof joint is formed between the external cylindrical surface of the terminal and the inner cylinder surface of the connecting cylinder.There is also a flameproof connection cavity in the upper section of the leg. In order to save space, the guidance wire is sealed together with the wire holder using a sealant. The seat of the guide wire is installed in the hole of the upper section of thelanding leg.Another flameproof joint is formed between the wire holder and the hole. The cavity of the upper section connects to the rabbet structure of the bottom section, with yet another flameproof joint. There is a flame-proof cable entry device at the end of the upper section of the landing leg. Hence, a flameproof connection cavity is formed in the upper section of the leg.Based on the structure described, the standard DC motor was installed in the flame proof cavity of the bottom section of the leg. The power and control cables of the motor connect to the flameproof connection cavity of its upper section through a wire holder.Moreover, the cable from the flame proof main body of the robot connects to the connection cavity via the flameproof cable entry device. Thus, the flameproof design of the landing leg of the rocker suspension section was completed.2.2 Differential device[13-15]2.2.1 Characteristics of the differential mechanism The differential Mechanism of a rocker-type robot is a motion transfer mechanism with two degrees of freedom, which can transform the two rotating inputs into a rotating output. The output is the linear mean values of the two inputs. If we let 1 and 2 be two angular velocity inputs,the angular velocity output, ω1 and ω2，wo rotational angle inputs and ω be rotational angle output, we have:221ωωω+=，221ϕϕϕ+=Two rotational input components connect to the left and the right rocker suspension of the robot and the output component connects to the main body of the robot. In this way, the swing angles of the left and right rocker suspensions are averaged by the differential mechanism and the mean value, transformed into the swing angle (pitching angle) of the main body, is the output. It is effective in decreasing the swing of the main body and thus reduces the terrain effect. Taking the main swing angle of the main body as input and the swing angles of the left and the right rocker suspension as outputs, the rotational input is decomposed into two different rotational outputs. If the output is the mean value of two inputs, it is helpful to allocate the average weight of the body to each wheel which can adjust its position passively alone in the terrain.Given the characteristics and operating requirements of differential mechanisms, a bevel gear type differential mechanism has been designed. We have analyzed the working principle of the bevel gear differential mechanism and present its detailed structural design.2.2.2 Principle of the bevel gear differential mechanismFig. 3 shows the schematic diagram of the bevel gear differential mechanism. Two semi-axle bevel gears 1 and 2 mesh with the planetary bevel gear 3 orthogonally. Carrier H connects to planetary bevel gear 3 coaxially. Let the angular velocities of gears 1,2, 3 and carrier H be ω1、ω2、ω3 and ωH . Let the number of their teeth be Z1 , Z 2 and Z3 , where Z1, Z2 . Let the rotational angles of gear 1, 2 and carrier H be φ1、φ2、φH . If we let the relative H then we have:131232112-=⋅⋅-=--=Z Z Z Z i H H H ωωωω We obtain 221ωωω+=H and 221ϕϕϕ+=H2.2.3 Bevel gear differential deviceGiven the above principle of a bevel gear differential mechanism, we designed such a bevel gear differential device, shown in Fig. 4. Fig. 4a is the outline of the differential device, and Fig. 4b its internalStructure.This bevel gear differential device is composed of a shell, end covers, an axle base, semi-axle bevel gears, planetary bevel gears, a connecting shaft, etc.The end covers and axle beds connect to the shell by screws. In the shell, two planetary bevel gears are coaxial and symmetrically installed at the connecting shaft, with the shaft terminals supported at the end covers. There are bearings between the connecting shaft and bevel gears. The circlips are installed on the connecting shaft to limit the load on the bearings.Two semi-axle bevel gears are housed in the two axle beds separately, two axle beds are fixed on the shellsymmetrically and two semi-axle bevel gears mesh with two planetary bevel gears orthogonally. The two axle bases have the same structure. The semi-axle bevel gears are located by the bearings, shaft sleeve and circlips in the axle beds. When the differential device is installed on the robot, the two axles of the left and right semi-axle bevel gears are connected to the left and right rockers. The shell of the differentialis fixed on the main body of the robot 2.3 Basic parameters of the robot mobile platform Fig. 5 shows the leading dimensions of the robot mobile platform. The length of the leg l=360 mm, the angle of the legs ψ = 90 , the diameter of the wheel d=200 mm, the distance between the front and the rear wheel 2 sin 5092e l ψ570 = mm, the width of the robot i=670 mm, the distance of the rocker rotational center to the ground cos 354.52 2dg l ψ = 670mm, the outline dimensions of the main body a=400, b=200, f=310 mm, the height of the robot platform c=522mm and the gravity (G) height h=360 mm. The rangeof the swinging angle of the left ( 1ϕ ) and the right( 2ϕ) rocker is ( 45 °~ 45° ).Let the pitch and horizontal roll angle be α and β ,then the maximum allowable pitch and horizontal roll angle are as follows:︒=⨯==2.3536025092arctan)max(h e α ︒=⨯==9.4236026702arctan )max(h i β The weight of the robot platform is 20 kg and its maximum load capacity is 15kg. The robot platform is driven by four DC motors with 60 W power. Its maximum speed is 0.32 m/s.3 Mobile platform test3.1 Simulation testAn accurate, simulated 3D model of the robot was Imported into the ADAMS software. Using the kinematic pairs in the joints database of the ADAMS/View, the movement of each part of the simulation model is constrained. For simulating the differential action of differential devices acting on the robot body, a revolute joint between the left and right rockers o f the model and the “Ground” is established. Random moments of forces are exerted to the left and right rockers to simulatethe rough action of the terrain on the rockers. For simulating the movements of the differential device accurately,contact forces areexerted to the pair of gears of the differential device.After corresp-onding marker points on the robot are established, the swinging angles of the left and right rockers and the robot body are measured and thecurves of the swinging angles along with the time are obtained via theADAMS/Postprocessor module, shown in Fig. 6. Curves 1 and 2 are swing angle curves of the two rockers, while curve 3 is the swingangle curve of the main body.The bevel gear differential device can average theswing angles of the right and left rockers, and the average value is the swing angle of the main body.The gap between two teeth and other factors cause the return difference of the gear drive, so when the main body is swinging at the early start-up and through the zero angle, there is a slight swinging angle deviation between the simulated and theoretical values.Typical steps, channels, slopes and other complex terrain models are built in the SolidWorks software. For testing the trafficability characteristics and ride comfort of the four wheel robot, all-terrains models are imported into the ADAMS software[16-17]. Then the joints and restraints are rebuilt, Contact Force between the terrain and the wheels is exerted and torque is exerted to each wheel. The running condition of the robot is simulated on the complex terrain,as shown in Fig. 7a. The vertical displacement, velocity and acceleration curves of the centroid of the body and the centers of the four wheels can be obtained, as shown in Figs. 7b~7d. According to the curves, the curve of the centroid displacement of the main body(mainbody_d curve) is very smooth and the velocity and acceleration of the main body is approximately the mean of that of the four wheels. The simulation results show that the mobile platformof the robot hasgood trafficability and rides comfortably on the complex terrain.3.2 Prototype testIn order to verify the performance of the robot in surmounting obstacles and adapting to a complex terrain, an obstacle-surmounting test of the robot was carried out on a simple obstacle course built in thelaboratory and on a complex outdoor terrain bestrewn with messy bricks and stones. Fig. 8 shows the video image of the robot when moving on the complex terrain.The tests indicate that the four drive wheels of the robot can passively keep contact with the uneven ground and the robot performed well in surmounting obstacles. When moving on uneven ground, the swing angle of the main body was small and the differential device could effectively reduce the effect of the changing terrain to the main body. One side of the robot can cross a260 mm-high obstacle. Only large obstacles between the landing legs of the rockers appear to block progress. The performance in surmounting obstacles by the four wheels of the robots is clearly better than that of a track-type robot of the same size.4 Conclusions1)Coal mine accidents, especially gas and coal dust explosions, occur frequently. Therefore, it is necessary to investigate and develop coal mine rescue robots that can be sent into mine disaster areas to carry out tasks of environmental detection and rescue missions afterdisasters have occurred, instead of sending rescuers which might become exposed to danger.2) An underground coal mine environment presents a space-restricted, unstructured terrain environment,with a likely explosive gas atmosph- ere after a disaster.Hence, any mobile system would require a high motion performance and obstacle-surmounting performance oncomp- ex terrain.3) Given an unstructured underground terrain environment and an explosive atmosphere, we investigated an explosion-proof coal mine rescue robot with four independent drive wheels, based on a rocker type structure. Our simulation and test results indicate that the robot performs satisfactorily, can passively adapt to uneven terrain, is self adaptive and performs well in surmounting obstacles.4) In our study, we only investigated the rocker-type mobile platform of a coal mine rescue robot. In order to adapt to the underground coal mine environment,we also carried out a flameproof design for the main body. It was necessary to improve the rocker suspensions in order for the robot to be able to adjust the angle between two landing legs automatically, so that the height of the center of gravity of the robot can be controlled, which should improve the anti-rollover performance of the robot.中文译文摇臂式煤矿救援机器人移动平台摘要煤矿灾害之后，尤其是气体和煤尘爆炸后，地下空间限制和非结构化的地形以及爆炸性气体的存在，需要具有良好的越障性能和防爆稳定性的煤矿救援机器人。

并联位移机器人的外文文献翻译、中英文翻译、外文翻译

附录：并联位移机器人的设计Jacques M.HERVEECELE CENTRALE PARIS92295 CHATENAY MALABRY CEDEXFRANCE摘要:本文目的是对偶具有人性化机器人的应用做一个完全的介绍,并将着重讨论并行机器人特别是那些能够进行空间平移的机器人。

在许多工业的应用过程中这种机器人被证明其末端执行器在空间上的定位是没必要的。

这个方法的优点是我们能系统地导出能预期得到位移子群的所有运动学链。

因此，我们调查了机器人的整个家族。

T-STAR机器人现在就是一台工作装置。

而H-ROBOT,PRISM-ROBOT是新的可能的机器人。

这些机器人能满足现代生产快节奏工作中价格低以及符合挑选的工作环境，如选料、安排、包装、装配等发日益增长的需求。

关键词：运动学,并行机器人引言群论可以运用于一系列位移当中。

根据这个理论，如果我们能够证明群{D}包含所有的可能的位移，那么{D}就具有群结构。

刚体的最显著运动是由群{D}表现出来的。

这方法导致机械装置的分类 [1]。

建立这样的一个分类的主要的步骤是将位移群的所有子群导出。

这能通过检验所有具有旋转和平移特性的[2]产品直接推理出。

然而,一个更有效的方法存在于假设群论[3],[4]中。

假设群论是在取决于许多有限实参数的全纯映射的基础上定义的。

位移群{D}是六维假设群的一个特例。

假设理论在假设群论的框架内,我们将用于补偿李代数的微元变换与通过其前面幂运算得到的有限运算结合起来。

连续群通过与群微元变换有关的微分幂运算描述出来。

另外，群体特性通过微分运算及其逆运算所得到的李代数的代数结构而得到了解释。

让我们回忆一下李代数主要的定义公理：一个李代数是一个具有封闭乘积的反对偶称双线性的矢量空间。

众所周知 [5]，螺旋速度场是在给定点N的条件下通过运算得到的一个六维的矢量空间。

由下面［3］中步骤表明，我们能得完整的欧几里得位移{D}子群列表（见大纲表1）。

移动式升降平台简介中英文 Mobile lifting platform 翻译

Mobile lifting platform额定载荷：200~2000kg举升高度：4~16米驱动方式：液压动力源：柴油、蓄电池、三相交流。

行走方式：手推式、牵引式、自行式和车载式。

Capacity: 200~2000kgLifting height: 4-16mDriving mode: hydraulic drivePower supply: diesel oil, storage battery, three phase currentWalking ways: hand push, pull-type, self-style and vehicle-mounted style产品简介：移动剪刀叉式液压升降平台（mobile hydraulic scissor lift platform）是用途广泛的高空作业专用设备。

举升采用液压缸推动剪刀叉机械结构，使升降台起升有较高的稳定性。

宽大的作业平台和较高的承载能力，使高空作业范围更大、并适合多人同时作业。

升降平台移动性好，转移场地方便；外型美观，适于室内外作业和存放。

Brief introduction: Mobile hydraulic scissor lift platform is a widely used special equipment for high altitude operations. The lifting adopts hydraulic cylinder to push the scissor mechanical structure, which makes lifting platform rise with stability. Wide work platform and high bearing capacity make the high-altitude operation more extensive and suitable for multiple people to work at the same time. The lifting platform is of good movability and convenient to transfer the site. Beautiful appearance, suitable for indoor and outdoor operation and storage.适用范围：工地、厂房、仓库、粮库、车站、宾馆、机场、码头、加油站、体育场、电力、高架管道等高空设备安装维修、清洁等，还用于起吊设备维护、野外电力设施维护、钢结构厂房维护等；是您高空作业的好帮手。

AxeBot机器人：全方位自主移动机器人的机械设计毕业论文外文翻译

AxeBot Robot: The Mechanical Design for an Autonomous Omni directional Mobile RobotTiago P. do Nascimento, Augusto Loureiro da Costa, Cristiane Correa Paim Post-graduation Program in Electrical EngineeringUniversidade Federal da BahiaSalvador, Bahia, Brasiltiagopn@, augusto.loureiro@ufba.br, cpaim@ufba.brAbstractThe AxeBot robot‟s mechanical design, a fully autonomous mobile robot, for the RoboCup Small Size League, is presented in this paper. The AxeBot robot uses three omnidirectional wheels for movement and is equipped by a shooting device for shooting the ball in different directions. Once the AxeBot robot is a fully autonomous mobile robot all the sensors, engines, servos, batteries, and the computer system, must be embedded on. The project can be separated in four different parts: the chassis design, the wheel design, the shooting device design and the overall assembly which makes a shell design possible to cover the whole robot. The AxeBot mechanical design brings up a new chassis concept for three wheels omnidirectional robot, also present a new shooting device, and finally present AxeBots prototype assembly.1. IntroductionThe RoboCup Initiative is an international research group whose aims are to promote the fields of Robotics and Artificial Intelligence. A standard challenge, a soccer match performed by autonomous robot teams, was proposed in 1996 [1]. Initially with three different leagues 2D: Robot Soccer Simulation league, Small Size Robot league, and Middle Size Robot league. Nowadays these leagues have been increased up to: Four-Legged League, Humanoid League, Middle Size League, RoboCup Junior Soccer, Small Size League, Soccer Simulation, Standard Robot League. Also, another challenge, the RoboCup Rescue was proposed in 1999 to show that the result from the robot soccer research could be directly applied on a real world problem like a disaster rescue made by robots. Through the integration of technology and advanced computer algorithms, the goal of RoboCup is to build a team of humanoid robots that can beat the current World Cup champions by the year 2050. The AxeBot uses three omnidirectional wheels, positioned on a circle with an angle of 120o among each wheel, to move in different directions. Three Maxxon A-22 motors are used to drive the omnidirectional wheels, one motor per wheel. These motors are controlled by two Brainstem Moto 1.0 and a cascade controller made to control the robot trajectory [2] [3]. The AxeBot also holds a shooting device to kick the ball in different directions, a Vision System with a CMUCam Plus and GP202 Infra-red sensor [4], a embedded Computer System based on StrongArm, called StarGate Kit and a IEEE 802.11 wireless network card. This work presents the mechanical project to enclose these equipments into an fully autonomous omnidirectional robot calledAxeBot. The complete AxeBot dynamics and kinematics model can be found in [5], this model was used to specify some mechanical parameter, like the wheel diameter.2. The ChassisThe chassis of the robot is the frame to which all other components can be attached, directly or indirectly. Therefore the chassis must be strong enough to carry the weight of all parts when the robot is in rest o in movement. The chassis has to withstand the forces on it, caused by the acceleration of the robot as well. Another important requirement of the chassis is that it fixes all components in a stiff way, so that there will be small relative displacements of the components within the robot, during acceleration and deceleration. This is particular important for the three driving motors, which are positioned on the ground plane with an angle of 120o between each motor. The performance of the control of the robot is dependent on a precise and stiff placement of the motors [6]. The chassis has to be strong enough also to withstand a collision of the robotagainst the wall or against another robot, with the highest possible impact velocity that can occur. Finally the chassis has to be built with the smallest amount of material. At first to reduce the costs, and to minimize the total weight of the robot. Less weight requires less power to accelerate. So with the same motors, less weight gives you more acceleration. This is of course only true, when all the power generated by the motors can be transferred, via the wheels, to the ground. In other words, the wheels must have enough traction that there will be no slip between the wheels and the ground [7].2.1. MaterialFiberglass was used to build the chassis. This choice is purely financial, because the material is not expensive (although it is strong) and there is no need to hire a professional constructor. The building of all the chassis (six in total) can be done by the team members themselves. Only the moulds have to be built by a professional. The upper and lower chassis can be made using one mould that can be adjusted to produce the different chassis.2.2. DesignThe primary goal of the design is the fixation of the motors in the desired positions. Therefore a ground plate with 3 slots for the motors is modeled. At the front side each motor can be attached to the chassis. At the rim of the ground plate an edge is attached to give the chassis more torsion stiffness. This edge can also be used for attaching other components of the robot, like the covering shell. Also there is a cutout to create space for the shooting device of the robot. In section 5 the design of this device will be discussed. However no final design will be presented and therefore we stick with this assumption that the shooting device needs these cutouts. All edges are rounded, because this will make the construction of the easier part. The final part, the lower chassis, is shown in the figure below. This part is modeled in Solid Edge. To get a stiffer and stronger chassis, a second chassis part, the upper chassis, is modeled. This is almost an exact copy of the first part, only now there are 3 cutouts that provide more space for placing the components of the robot. These cutouts also save some material and therefore weight. The both parts are This sandwich construction gives thewhole chassis more stiffness, and so the total thickness of both the chassis can probably be lower than using one chassis part.Figure 1: Lower chassisFigure 2: Upper and lower chassis attached to each other2.3. Chassis mouldTo build these parts, a mould was made. This is just a negative of the actual robot parts. In figure 3 the mould of the upper chassis. To change this mould in the mould for the lower chassis, where the ground plate does not have holes, the indicated pieces (with white stripes) and the not indicated left piece (symmetric to the most right part) should be lowered 4 mm. For the upper and lower chassis, the basis mould is exactly the same. Only piece one and two are different for the two chassis, the motor piece and the shooting system piece are the same.Figure 3: Chassis mould3. WheelsThe AxeBot robot is equipped with three wheels positioned on a circle with an angle of 120°among attached to each other as shown in the picture below.each wheel. These wheels have to enable the omnidirectionality of the AxeBot robot. This means that the wheels have to be able to let the robot make two translational movements (in x and y-direction, see figure 4) without rotating the robot around its z-axis (the axis perpendicular to the y and x-axis, that is rotation in figure 4). The wheels have also to enable a rotation of the total robot around the z-axis.Figure 4: AxeBot wheels positionsNevertheless, the wheels have to be as small and light as possible to minimize weight and moment of inertia but still remain usable and manageable. The wheels are based on an existing design of an omnidirectional wheel from the Cornell Robot 2003 [8]. Figure 5 shows an exploded view the final version of a wheel. The two shells are connected to each other by screws and hold every part on the right place. The hub is also attached to the shells by screws. The hub is mounted on the output axle of a motor by a screw to transfer the rotational output of a motor to the wheel. The rings of the rollers are in contact with the floor. A roller can rotate around its roller axle.As mentioned above, the wheel has to enable two translations (x and y, see figure 4) without rotating around its z-axis. The whole wheel ensures one translation by rotating around the output shaft of the motors while the rollers ensure the other translation. Combining these translations on a proper way a robot can move anywhere in a plane or make a rotation.3.1. RingThe ring is the only part of the wheel that is in contact with the floor. Note that a wheel can also be in contact with the floor by two rings. To obtain maximum grip (no slip) the Cornell Robot 2003 team first developed rollers without rings. The rollers had sharp edges to cut into the carpet of the football fieldfor maximum grip. This however ruined the carpet and rubber rings were added in the design to obtain maximum grip without ruining the carpet. The rings are circular with a circular profile.Figure 5: Exploded view of the wheelTherefore the rubber rings are also used for the AxeBot 2006. Rubber rings can be bought in several sizes and since they are highly elastic it wasn‟t difficult to find a ring of a right size. Since there are more than one …right sizes‟ and the geometry of the ring is that simple, no technical drawing of the ring was made.3.2. RollerThe geometry of the rollers may not restrict the rotation of the roller and should enable the placement of the rubber ring, without the ring falling off. This can be easily obtained (see drawings). The only problem is friction with their axles and with the shells.The geometry of the rollers can influence the friction with the shells and the friction with its roller axle. To minimize the possibility of wear on the contact area between the roller and the roller axle, this contact area should be as big as possible.When the torque of the motor is transferred through a roller to the ground (driving the robot), the roller that is on the ground is pressed against the shells. It will occur often that, in this situation, the desired driving direction also requires a rotation of the roller (then the summation of the two translational movements will results in the desired driving direction). The rotating roller is, in this situation, pressed against the shells which, in some cases, can result in wear of the roller and or the shells. This depends on the material of the roller, the material of the shell, the magnitude of the force which presses the surfaces on each other (in this case it is the torque of the motor) and the geometry of both contact surfaces. Only the materials and geometry can be chosen in the design process of the wheels.A small contact area results in low friction but possible wear of one of the two surfaces and though materials have to be used to avoid wear. A large contact area will not cause wear but will result in a large friction force. An optimum for the contact area and the materials has to be found. The geometry has to be machinable also. Problems that are mentioned above did not occur with the design of the rollers of the Cornell Robot 2003. Therefore the same geometry for the rollers is used for the AxeBot.The Cornell Robot 2003 team designed a wheel with 15 rollers that worked very well. Therefore also 15 rollers are used in each wheel of the AxeBot 2006.The prototypes of the wheels of the Cornell Robot 2003 first had Delrin rollers to minimize friction and weight. Delrin is a kind of plastic which is used with moving contact surfaces because of its low friction coefficients with other materials. After a few test with the prototype robot it became clear that the Delrin-rollers easily broke with a collision. Therefore the Cornell Robot 2003 was equipped with aluminum rollers. These were strong enough to withstand collisions and aluminum has a low density (compared to other metals).However, during other prototype tests of the Cornell Robot 2003 team some aluminum residue built up on the steel rollers axles. The Cornell Robot 2003 did not encounter problems due to the wearing of the aluminum rollers, but to optimize the design of the AxeBot wheels this problem was solved.To avoid wearing of the aluminum rollers other material for the axles can be used or the rollers can be made of a tougher material. After a few calculations it became clear that roller axles of Delrin (to reduce the friction) are strong enough (see the section about the axles), but it is not possible to produce thin bars of Delrin. Therefore steel axles are used, the same material as the roller axles of the Cornell Robot 2003.So to avoid wear of the rollers a more though material than aluminum has to be used for the rollers. Steel is more though and an easily obtainable and cheap material. Adisadvantage of steel compared to aluminum is its higher density. This will increase the moment of the inertia which …costs‟ more torque of the motor. The total moment of inertia of a wheel with steel rollers is 1.39×10−4kgm2 and the moment of inertia of a wheel with aluminum rollers is 1.30×10−4kgm2. Using steel rollers instead of aluminum rollers would increase the moment of inertia by 7 this increase is neglectable small and steel rollers can be used.Concerning friction, using steel rollers and steel axles is also better than using aluminum rollers and steel axles since the friction-coefficient between steel and steel is lower than that between steel and aluminum. A lubricant can also be used to even more reduce friction.3.3. Roller axleAs mentioned above, the use of Delrin for the roller axles was investigated since it would reduce the wear of the aluminum rollers. In a static situation was calculated whether Delrin axles of 2.4 mm diameter would be strong enough. This was also done in a dynamical situation (dropping the robot on the floor and landing on one roller), but without using a Finite Element Method this did not result in realistic results. When the total weight of 3.5 kg of one AxeBot 2006 would completely be on one roller axle this would result in a shear stress in the axle.In this situation the shear stress can be calculated by dividing the force on the axle (due to the weight of the AxeBot) by the area of the shear plane. The area of the shear plane is of course the area of a circle with a radius similar to the radius of the axles. Note that the weight of the AxeBot has to be divided by two since there are two shear planes in one axle.The magnitude of the shear stress would be 3.8 MPa. Delrin starts to plastically deform in due to shear at around 44 MPa. Statically, Delrin axles would be strong enough.However, this calculation was not necessary it became clear that it is not possible to produce Delrin bars of 2.5 mm (diameter). Therefore steel axles will be used (aluminum axles would result in more friction). To reduce friction, the axles were coated with a lubricant like carbon. Lubricants like carbon are easily available.The Cornell robot team 2003 documentation does not mention problems of wear of their polycarbonate shells due to their steel roller axles. As one can be read further down this section, the shells of the AxeBot wheels will be made of aluminum or polycarbonate. The coefficient of friction between aluminum (shells) and steel (axles) and between polycarbonate (shells) and steel (axles) are of equal sizes (about 0.45 [-]). Also, the geometry of the wheels of the Cornell robot and the AxeBot are almost the same. Therefore it is most likely that wearing due to friction will not be a problem with steel roller axles and polycarbonate or aluminum shells.Production the axles can easily be made out of a steel bar. Depending on the available diameters of steel bars, the diameter of the axles could be adjusted. The edges of the axles are rounded to avoid sharp corners.3.4. HubThe hub connects the wheel to the axle of the motor. A M2-bolt can be used for this purpose, the hole in the hub where this bolt will be placed is dimensioned 1.5 mm indiameter so screw thread can be made to fit in the M2-bolt. The hub is connected to the shells by three M3-screws. Corresponding holes of 2.5 mm will be made in the hub and the shells. The geometry of the hub can be changed to facilitate the production process. The hub can be made out of aluminum or polycarbonate, both light materials. To investigate the option (and price) of injection moulding the hub out of polycarbonate a sketch of a design for a mould has been made.3.5. ShellsAlmost the all geometry of the shells of the Cornell Robot 2003 is used. Only little changes in the slots for the rollers of the axles have been made to facilitate the production process of the shells. In the section about the production of the shells a different design for the slots of the axles is presented to make the production of the shells easily.The shells can be made out of aluminum or a though, light plastic like polycarbonate. The Cornell Robot had shells of polycarbonate. The best machinable material is preferred, and the one used on the AxeBot‟s shell. Wh en using a plastic that can be injection molded, molds have been designed to check the prices of injection moulding.4. Shooting DeviceThis design consists of a vertical arm (the kick arm), that can swing around an axle which is fixed to the robot. This movement will be actuated by one of the two servos, the kicking servo, that is also fixed to the robot. The other servo, the directional servo, is attached to the bottom of the kick arm (the servosocket). A pendulum-like system is formed, so a large mass is concentrated in the lower part of a rotating arm. The kicking servo has a kicking plate attached to it which can rotate and thereby makes it possible to shoot in different directions. The kicking plate can be positioned very accurately since servos are designed for these kinds of tasks. The kicking plate is also connected to the servosocket. Therefore the collision force between the ball and the kicking plate will be guided to and divided by these two connection points. There will be less bending in the kicking platethen with one connection point and smaller reaction forces will act on the connection points.Figure 6: The AxeBot shooting device5. Shell and AxeBot AssemblyThe shell is the cover of the total robot. It will be made from fiberglass as well, for the same reasons as stated in the section about the chassis. In the figure below the design of the shell is shown. There are cutouts to make room for the wheels as well as for the shooting device. The diameter of the shell is 178 mm. Because the maximum allowable diameter is 180 mm, a margin of 2 mm is created.On top of the shell a vision system will be mounted. For the sake of compactness of the robot the height should be as small as possible, with all the parts fitting in. Thismould can be built with the simple milling machine that is available.To assemble the robot the most important demand is to obtain a total centre of gravity that has the lowest possible position in the robot. This will give the robot positive driving abilities. Another demand is of course that all the parts fit in the maximum height of 150 mm.To check this, all the parts of the robot have been modeled in Solid Edge. In figure 7 an exploded view of the total robot assembly is shown.The robot consists of an upper and lower chassis. Three motors with three omnidirectional wheels are attached to it. On the bottom of the robot, the two battery packs are placed, because these parts have the largest mass. The three motor processors are attached to two general processors. Also the overall processor with the data-transfer-unit is assembled. The latter parts are assembled in a way that is most compact. With this assembly it is possible for all parts to fit in a shell with height of 100 mm.A model for the shell of the robot is designed. Also a molt to produce these parts is modeled. It is possible to produce this model by using the milling machine that is available at the university. The assembly of all the parts, except the shooting device, shows that a shell height of 100 mm is possible.Figure 7: Exploded view of the total robot assemblyFigure 8: Total robot assembly6. ConclusionThe AxeBot mechanical design, a fully autonomous mobile robot, for the RoboCup Small Size League, was presented in this paper. This mechanical design brings up a new concept of chassis for three wheels omnidirectional mobile for RoboCup F-180 league, that can be built easily and cheap. Also a new effectuator mobile robot design for RoboCup F-180 league is presented here. This new effectuator allows the mobile robot to shoot the ball in different directions, instead of just shoot a head like the othershooting devices. Finally the mechanical project presented here encloses all part, sensor, actuators, effectuator, computer systems, wheels, chassis and cover shell into the AxeBot prototype. The AxeBot robot was concept for academical proposes, using the robot soccer as a laboratory to research in Autonomous Mobile Robots, Artificial Intelligence and related areas. Looking forward, in a few months, four more AxeBots are expected to be built like the two in figure 9. These robots will form the MecaTeam F-180, and height of 100 mm is possible.will support our research in to multi-robot systems, as it can be seen in figure 9 below.Figure 9: AxeBot photo7. References[1] Kitano, H. “Robocup: The robot world cup initiative”. In: Proc. of The First International Conference on Autonomous Agent (Agents-97)). Marina del Ray, The ACM Press. 1997.[2] Franco, A. C. “Geração e controle de tra jetória de robôs móveis omni-direcionais”, Master‟s thesis, Programa de Pós-Graduação Mecatrônica, UFBA. 2007.[3] PIRES, E. J. S.; MACHADO, J. A. T.; OLIVEIRA, P. B. de M. “Robot trajectory planning using multi-objective genetic algorithm optimization”. In: DEB, K. et al. (Ed.). GECCO (1). [S.l.]: Springer, 2004. (Lecture Notes in Computer Science, v. 3102), p.615-626. ISBN 3-540-22344-4.[4] Oliveira, L. R., Costa, A. L., Schnitman, L. and Souza, J. “An architecture of sensor fusion for spatial locat ion of objects in mobile robotics”, in B. H. Spring-Verlag (ed.), Encontro Português de Inteligência Artificial, EPIA‟2005, Covilhã, 2005. pp. 462–473.[5] Nascimento, T. P., Costa, A. L., Paim, C. C. “Uma abordagem multivariável para modelagem de robôs móveis omnidirecionais”, XVI CBA - Congresso Brasileiro de Automação. 2008.[6] ANGELES, J. “Fundamentals of Robotic Mechanical Systems: Theory, Methods, and Algorithms”. 2. ed. New York: Springer-Verlag New York, Inc., 2003. [7] B. Carter, M. Good, M. Dorohoff, J. Lew, R. L. W. II, and P. Gallina, “Mechanical design and modeling of an omni-directional robocup player,” in Proceedings RoboCup 2001 International Symposium, (Athens, Ohio), pp. 1–10, 2001.[8] Anderson, G., Chang, C., Chung, D., Evansic, L., Law, H., Richardson, S., Robers, J., Sterk, K. and Yim, J. 2003 cornell robocup, mechanical group final documentation, Technical report, /. 2003.翻译：AxeBot机器人：全方位自主移动机器人的机械设计摘要:这篇文章中介绍了一个用来参与机器人世界杯小尺寸等级比赛的完全自主移动AxeBot机器人的机械设计。

协作移动机器人-前因和方向外文文献翻译、中英文翻译、外文翻译

Cooperative Mobile Robotics: Antecedents and DirectionsY. UNY CAOComputer Science Department, University of California, Los Angeles, CA 90024-1596ALEX S. FUKUNAGAJet Propulsion Laboratory, California Institute of Technology, Pasadena, CA 91109-8099ANDREW B. KAHNGComputer Science Department, University of California, Los Angeles, CA 90024-1596Editors: R.C. Arkin and G.A. BekeyAbstract. There has been increased research interest in systems composed of multiple autonomous mobile robots exhibiting cooperative behavior. Groups of mobile robots are constructed, with an aim to studying such issues as group architecture, resource conflict, origin of cooperation, learning, and geometric problems. As yet, few applications of cooperative robotics have been reported, and supporting theory is still in its formative stages. In this paper, we give a critical survey of existing works and discuss open problems in this field, emphasizing the various theoretical issues that arise in the study of cooperative robotics. We describe the intellectual heritages that have guided early research, as well as possible additions to the set of existing motivations.Keywords: cooperative robotics, swarm intelligence, distributed robotics, artificial intelligence, mobile robots, multiagent systems1. PreliminariesThere has been much recent activity toward achieving systems of multiple mobile robots engaged in collective behavior. Such systems are of interest for several reasons:•tasks may be inherently too complex (or im-possible) for a single robot to accomplish, or performance benefits can be gained from using multiple robots;•building and using several simple robots can be easier, cheaper, more flexible and more fault-tolerant than having a single powerful robot foreach separate task; and•the constructive, synthetic approach inherent in cooperative mobile robotics can possibly∗This is an expanded version of a paper which originally appeared in the proceedings of the 1995 IEEE/RSJ IROS conference. yield insights into fundamental problems in the social sciences (organization theory, economics, cognitive psychology), and life sciences (theoretical biology, animal ethology).The study of multiple-robot systems naturally extends research on single-robot systems, butis also a discipline unto itself: multiple-robot systems can accomplish tasks that no single robot can accomplish, since ultimately a single robot, no matter how capable, is spatially limited. Multiple-robot systems are also different from other distributed systems because of their implicit “real-world” environment, which is presumably more difficult to model and reason about than traditional components of distributed system environments (i.e., computers, databases, networks).The term collective behavior generically denotes any behavior of agents in a system having more than one agent. the subject of the present survey, is a subclass of collective behavior that is characterized by cooperation. Webster’s dictionary [118] defines “cooperate” as “to associate with anoth er or others for mutual, often economic, benefit”. Explicit definitions of cooperation in the robotics literature, while surprisingly sparse, include:1. “joint collaborative behavior that is directed toward some goal in which there is a common interest or reward” [22];2. “a form of interaction, usually based on communication” [108]; and3. “[joining] together for doing something that creates a progressive result such as increasing performance or saving time” [137].These definitions show the wide range of possible motivating perspectives. For example, definitions such as (1) typically lead to the study of task decomposition, task allocation, and other dis-tributed artificial intelligence (DAI) issues (e.g., learning, rationality). Definitions along the lines of (2) reflect a concern with requirements for information or other resources, and may be accompanied by studies of related issues such as correctness and fault-tolerance. Finally, definition (3) reflects a concern with quantified measures of cooperation, such as speedup in time to complete a task. Thus, in these definitions we see three fundamental seeds: the task, the mechanism of cooperation, and system performance.We define cooperative behavior as follows: Given some task specified by a designer, a multiple-robot system displays cooperative behavior if, due to some underlying mechanism (i.e., the “mechanism of cooperation”), there is an increase in the total utility of the system. Intuitively, cooperative behavior entails some type of performance gain over naive collective behavior. The mechanism of cooperation may lie in the imposition by the designer of a control or communication structure, in aspects of the task specification, in the interaction dynamics of agent behaviors, etc.In this paper, we survey the intellectual heritage and major research directions of the field of cooperative robotics. For this survey of cooperative robotics to remain tractable, we restrict our discussion to works involving mobile robots or simulations of mobile robots, where a mobile robot is taken to be an autonomous, physically independent, mobile robot. In particular, we concentrated on fundamental theoretical issues that impinge on cooperative robotics. Thus, the following related subjects were outside the scope of this work:•coordination of multiple manipulators, articulated arms, or multi-fingered hands, etc.•human-robot cooperative systems, and user-interface issues that arise with multiple-robot systems [184] [8] [124] [1].•the competitive subclass of coll ective behavior, which includes pursuit-evasion [139], [120] and one-on-one competitive games [12]. Note that a cooperative team strategy for, e.g., work on the robot soccer league recently started in Japan[87] would lie within our present scope.•emerging technologies such as nanotechnology [48] and Micro Electro-Mechanical Systems[117] that are likely to be very important to co-operative robotics are beyond the scope of this paper.Even with these restrictions, we find that over the past 8 years (1987-1995) alone, well over 200papers have been published in this field of cooperative (mobile) robotics, encompassing theories from such diverse disciplines as artificial intelligence, game theory/economics, theoretical biology, distributed computing/control, animal ethology and artificial life.We are aware of two previous works that have surveyed or taxonomized the literature. [13] is abroad, relatively succinct survey whose scope encompasses distributed autonomous robotic systems(i.e., not restricted to mobile robots). [50] focuses on several well-known “swarm” architectures (e.g., SWARM and Mataric’s Behavior-based architecture –see Section 2.1) and proposes a taxonomy to characterize these architectures. The scope and intent of our work differs significantly from these, in that (1) we extensively survey the field of co-operative mobile robotics, and (2) we provide a taxonomical organization of the literature based on problems and solutions that have arisen in the field (as opposed to a selected group of architectures). In addition, we survey much new material that has appeared since these earlier works were published.Towards a Picture of Cooperative RoboticsIn the mid-1940’s Grey Walter, along with Wiener and Shannon, studied turtle-like robots equipped wit h light and touch sensors; these simple robots exhibited “complex social behavior” in responding to each other’s movements [46]. Coordination and interactions of multiple intelligent agents have been actively studied in the field of distributed artificial intelligence (DAI) since the early 1970’s[28], but the DAI field concerned itself mainly with problems involving software agents. In the late 1980’s, the robotics research community be-came very active in cooperative robotics, beginning with projects such as CEBOT [59], SWARM[25], ACTRESS [16], GOFER [35], and the work at Brussels [151]. These early projects were done primarily in simulation, and, while the early work on CEBOT, ACTRESS and GOFER have all had physical implementations (with≤3 robots), in some sense these implementations were presented by way of proving the simulation results. Thus, several more recent works (cf. [91], [111], [131])are significant for establishing an emphasis on the actual physical implementation of cooperative robotic systems. Many of the recent cooperative robotic systems, in contrast to the earlier works, are based on a behavior-based approach (cf. [30]).Various perspectives on autonomy and on the connection between intelligence and environment are strongly associated with the behavior-based approach [31], but are not intrinsic to multiple-robot systems and thus lie beyond our present scope. Also note that a recent incarnation of CEBOT, which has been implemented on physical robots, is based on a behavior-based control architecture[34].The rapid progress of cooperative robotics since the late 1980’s has been an interplay of systems, theories and problems: to solve a given problem, systems are envisioned, simulated and built; theories of cooperation are brought from other fields; and new problems are identified (prompting further systems and theories). Since so much of this progress is recent, it is not easy to discern deep intellectual heritages from within the field. More apparent are the intellectualheritages from other fields, as well as the canonical task domains which have driven research. Three examples of the latter are:•Traffic Control. When multiple agents move within a common environment, they typically attempt to avoid collisions. Fundamentally, this may be viewed as a problem of resource conflict, which may be resolved by introducing, e.g., traffic rules, priorities, or communication architectures. From another perspective, path planning must be performed taking into con-sideration other robots and the global environment; this multiple-robot path planning is an intrinsically geometric problem in configuration space-time. Note that prioritization and communication protocols – as well as the internal modeling of other robots – all reflect possible variants of the group architecture of the robots. For example, traffic rules are commonly used to reduce planning cost for avoiding collision and deadlock in a real-world environment, such as a network of roads. (Interestingly, behavior-based approaches identify collision avoidance as one of the most basic behaviors [30], and achieving a collision-avoidance behavior is the natural solution to collision avoidance among multiple robots. However, in reported experiments that use the behavior-based approach, robots are never restricted to road networks.) •Box-Pushing/Cooperative Manipulation. Many works have addressed the box-pushing (or couch-pushing) problem, for widely varying reasons. The focus in [134] is on task allocation, fault-tolerance and (reinforcement) learning. By contrast, [45] studies two boxpushing protocols in terms of their intrinsic communication and hardware requirements, via the concept of information invariants. Cooperative manipulation of large objects is particularly interesting in that cooperation can be achieved without the robots even knowing of each others’ existence [147], [159]. Other works in the class of box-pushing/object manipulation include [175] [153] [82] [33] [91] [94] [92][114] [145] [72] [146].•Foraging. In foraging, a group of robots must pick up objects scattered in the environment; this is evocative of toxic waste cleanup, harvesting, search and rescue, etc. The foraging task is one of the canonical testbeds for cooperative robotics [32] [151] [10] [67] [102] [49] [108] [9][24]. The task is interesting because (1) it can be performed by each robot independently (i.e., the issue is whether multiple robots achieve a performance gain), and (2) as discussed in Section 3.2, the task is also interesting due to motivations related to the biological inspirations behind cooperative robot systems. There are some conceptual overlaps with the related task of materials handling in a manufacturing work-cell [47]. A wide variety of techniques have been applied, ranging from simple stigmergy (essentially random movements that result in the fortuitous collection of objects [24] to more complex algorithms in which robots form chains along which objects are passed to the goal [49].[24] defines stigmergy as “the production of a certain behaviour in agents as a consequence of the effects produced in the local environment by previous behaviour”. This is actually a form of “cooperation without communication”, which has been the stated object of several for-aging solutions since the corresponding formulations become nearly trivial if communication is used. On the other hand, that stigmergy may not satisfy our definition of cooperation given above, since there is no performance improvement over the “naive algorithm” –in this particular case, the proposed stigmergic algorithm is the naive algorithm. Again, group architecture and learning are major research themes in addressing this problem.Other interesting task domains that have received attention in the literature includemulti-robot security systems [53], landmine detection and clearance [54], robotic structural support systems (i.e., keeping structures stable in case of, say ,an earthquake) [107], map making [149], and assembly of objects using multiple robots [175].Organization of PaperWith respect to our above definition of cooperative behavior, we find that the great majority of the cooperative robotics literature centers on the mechanism of cooperation (i.e., few works study a task without also claiming some novel approach to achieving cooperation). Thus, our study has led to the synthesis of five “Research Axes” which we believe comprise the major themes of investigation to date into the underlying mechanism of cooperation.Section 2 of this paper describes these axes, which are: 2.1 Group Architecture, 2.2 Resource Conflict, 2.3 Origin of Cooperation, 2.4 Learning, and 2.5 Geometric Problems. In Section 3,we present more synthetic reviews of cooperative robotics: Section 3.1 discusses constraints arising from technological limitations; and Section 3.2discusses possible lacunae in existing work (e.g., formalisms for measuring performance of a cooperative robot system), then reviews three fields which we believe must strongly influence future work. We conclude in Section 4 with a list of key research challenges facing the field.2. Research AxesSeeking a mechanism of cooperation may be rephrased as the “cooperative behavior design problem”: Given a group of robots, an environment, and a task, how should cooperative behavior arise? In some sense, every work in cooperative robotics has addressed facets of this problem, and the major research axes of the field follow from elements of this problem. (Note that certain basic robot interactions are not task-performing interactions per se, but are rather basic primitives upon which task-performing interactions can be built, e.g., following ([39], [45] and many others) or flocking [140], [108]. It might be argued that these interactions entail “control and coordination” tasks rather than “cooperation” tasks, but o ur treatment does not make such a distinction).First, the realization of cooperative behavior must rely on some infrastructure, the group architecture. This encompasses such concepts as robot heterogeneity/homogeneity, the ability of a given robot to recognize and model other robots, and communication structure. Second, for multiple robots to inhabit a shared environment, manipulate objects in the environment, and possibly communicate with each other, a mechanism is needed to resolve resource conflicts. The third research axis, origins of cooperation, refers to how cooperative behavior is actually motivated and achieved. Here, we do not discuss instances where cooperation has been “explicitly engineered” into the robots’ behavior since this is the default approach. Instead, we are more interested in biological parallels (e.g., to social insect behavior), game-theoretic justifications for cooperation, and concepts of emergence. Because adaptability and flexibility are essential traits in a task-solving group of robots, we view learning as a fourth key to achieving cooperative behavior. One important mechanism in generating cooperation, namely,task decomposition and allocation, is not considered a research axis since (i) very few works in cooperative robotics have centered on task decomposition and allocation (with the notable exceptions of [126], [106], [134]), (ii) cooperative robot tasks (foraging, box-pushing) in the literature are simple enough that decomposition and allocation are not required in the solution, and (iii) the use of decomposition and allocation depends almost entirely on the group architectures(e.g. whether it is centralized or decentralized).Note that there is also a related, geometric problem of optimizing the allocation of tasks spatially. This has been recently studied in the context of the division of the search of a work area by multiple robots [97]. Whereas the first four axes are related to the generation of cooperative behavior, our fifth and final axis –geometric problems–covers research issues that are tied to the embed-ding of robot tasks in a two- or three-dimensional world. These issues include multi-agent path planning, moving to formation, and pattern generation.2.1. Group ArchitectureThe architecture of a computing sys tem has been defined as “the part of the system that remains unchanged unless an external agent changes it”[165]. The group architecture of a cooperative robotic system provides the infrastructure upon which collective behaviors are implemented, and determines the capabilities and limitations of the system. We now briefly discuss some of the key architectural features of a group architecture for mobile robots: centralization/decentralization, differentiation, communications, and the ability to model other agents. We then describe several representative systems that have addressed these specific problems.Centralization/Decentralization The most fundamental decision that is made when defining a group architecture is whether the system is centralized or decentralized, and if it is decentralized, whether the system is hierarchical or distributed. Centralized architectures are characterized by a single control agent. Decentralized architectures lack such an agent. There are two types of decentralized architectures: distributed architectures in which all agents are equal with respect to control, and hierarchical architectures which are locally centralized. Currently, the dominant paradigm is the decentralized approach.The behavior of decentralized systems is of-ten described using such terms as “emergence” and “self-organization.” It is widely claimed that decentralized architectures (e.g., [24], [10], [152],[108]) have several inherent advantages over centralized architectures, including fault tolerance, natural exploitation of parallelism, reliability, and scalability. However, we are not aware of any published empirical or theoretical comparison that supports these claims directly. Such a comparison would be interesting, particularly in scenarios where the team of robots is relatively small(e.g., two robots pushing a box), and it is not clear whether the scaling properties of decentralization offset the coordinative advantage of centralized systems.In practice, many systems do not conform toa strict centralized/decentralized dichotomy, e.g., many largely decentralized architectures utilize “leader” agents. We are not aware of any in-stances of systems that are completely centralized, although there are some hybrid centralized/decentralized architectures wherein there is a central planner that exerts high-levelcontrol over mostly autonomous agents [126], [106], [3], [36].Differentiation We define a group of robots to be homogeneous if the capabilities of the individual robots are identical, and heterogeneous otherwise. In general, heterogeneity introduces complexity since task allocation becomes more difficult, and agents have a greater need to model other individuals in the group. [134] has introduced the concept of task coverage, which measures the ability of a given team member to achieve a given task. This parameter is an index of the demand for cooperation: when task coverage is high, tasks can be accomplished without much cooperation, but otherwise, cooperation is necessary. Task coverage is maximal in homogeneous groups, and decreases as groups become more heterogeneous (i.e., in the limit only one agent in the group can perform any given task).The literature is currently dominated by works that assume homogeneous groups of robots. How-ever, some notable architectures can handle het-erogeneity, e.g., ACTRESS and ALLIANCE (see Section 2.1 below). In heterogeneous groups, task allocation may be determined by individual capabilities, but in homogeneous systems, agents may need to differentiate into distinct roles that are either known at design-time, or arise dynamically at run-time.Communication Structures The communication structure of a group determines the possible modes of inter-agent interaction. We characterize three major types of interactions that can be sup-ported. ([50] proposes a more detailed taxonomy of communication structures). Interaction via environmentThe simplest, most limited type of interaction occurs when the environment itself is the communication medium (in effect, a shared memory),and there is no explicit communication or interaction between agents. This modality has also been called “cooperation without communication” by some researchers. Systems that depend on this form of interaction include [67], [24], [10], [151],[159], [160], [147].Interaction via sensing Corresponding to arms-length relationships inorganization theory [75], interaction via sensing refers to local interactions that occur between agents as a result of agents sensing one another, but without explicit communication. This type of interaction requires the ability of agents to distinguish between other agents in the group and other objects in the environment, which is called “kin recognition” in some literatures [108]. Interaction via sensing is indispensable for modeling of other agents (see Section 2.1.4 below). Because of hard-ware limitations, interaction via sensing has often been emulated using radio or infrared communications. However, several recent works attempt to implement true interaction via sensing, based on vision [95], [96], [154]. Collective behaviors that can use this kind of interaction include flocking and pattern formation (keeping in formation with nearest neighbors).Interaction via communicationsThe third form of interaction involves explicit communication with other agents, by either directed or broadcast intentional messages (i.e. the recipient(s) of the message may be either known or unknown). Because architectures that enable this form of communication are similar tocommunication networks, many standard issues from the field of networks arise, including the design of network topologies and communications protocols. For ex-ample, in [168] a media access protocol (similar to that of Ethernet) is used for inter-robot communication. In [78], robots with limited communication range communicate to each other using the “hello-call” protocol, by which they establish “chains” in order to extend their effective communication ranges. [61] describes methods for communicating to many (“zillions”) robots, including a variety of schemes ranging from broadcast channels (where a message is sent to all other robots in the system) to modulated retroreflection (where a master sends out a laser signal to slaves and interprets the response by the nature of the re-flection). [174] describes and simulates a wireless SMA/CD ( Carrier Sense Multiple Access with Collision Detection ) protocol for the distributed robotic systems.There are also communication mechanisms designed specially for multiple-robot systems. For example, [171] proposes the “sign-board” as a communication mechanism for distributed robotic systems. [7] gives a communication protocol modeled after diffusion, wherein local communication similar to chemical communication mechanisms in animals is used. The communication is engineered to decay away at a preset rate. Similar communications mechanisms are studied in [102], [49], [67].Additional work on communication can be found in [185], which analyzes optimal group sizes for local communications and communication delays. In a related vein, [186], [187] analyzes optimal local communication ranges in broadcast communication.Modeling of Other Agents Modeling the intentions, beliefs, actions, capabilities, and states of other agents can lead to more effective cooperation between robots. Communications requirements can also be lowered if each agent has the capability to model other agents. Note that the modeling of other agents entails more than implicit communication via the environment or perception: modeling requires that the modeler has some representation of another agent, and that this representation can be used to make inferences about the actions of the other agent.In cooperative robotics, agent modeling has been explored most extensively in the context of manipulating a large object. Many solutions have exploited the fact that the object can serve as a common medium by which the agents can model each other.The second of two box-pushing protocols in[45] can achieve “cooperation without commun ication” since the object being manipulated also functions as a “communication channel” that is shared by the robot agents; other works capitalize on the same concept to derive distributed control laws which rely only on local measures of force, torque, orientation, or distance, i.e., no explicit communication is necessary (cf. [153] [73]).In a two-robot bar carrying task, Fukuda and Sekiyama’s agents [60] each uses a probabilistic model of the other agent. When a risk threshold is exceeded, an agent communicates with its partner to maintain coordination. In [43], [44], the theory of information invariants is used to show that extra hardware capabilities can be added in order to infer the actions of the other agent, thus reducing communication requirements. This is in contrast to [147], where the robots achieve box pushing but are not aware of each other at all. For a more com-plex task involving the placement of five desks in[154], a homogeneous group of four robots share a ceiling camera to get positional information, but do not communicate with each other. Each robot relies on modeling of otheragents to detect conflicts of paths and placements of desks, and to change plans accordingly.Representative Architectures All systems implement some group architecture. We now de-scribe several particularly well-defined representative architectures, along with works done within each of their frameworks. It is interesting to note that these architectures encompass the entire spectrum from traditional AI to highly decentralized approaches.CEBOTCEBOT (Cellular roBOTics System) is a decentralized, hierarchical architecture inspired by the cellular organization of biological entities (cf.[59] [57], [162] [161] [56]). The system is dynamically reconfigurable in tha t basic autonomous “cells” (robots), which can be physically coupled to other cells, dynamically reconfigure their structure to an “optimal” configuration in response to changing environments. In the CEBOT hierarchy there are “master cells” that coordinate subtasks and communicate with other master cells. A solution to the problem of electing these master cells was discussed in [164]. Formation of structured cellular modules from a population of initially separated cells was studied in [162]. Communications requirements have been studied extensively with respect to the CEBOT architecture, and various methods have been proposed that seek to reduce communication requirements by making individual cells more intelligent (e.g., enabling them to model the behavior of other cells). [60] studies the problem of modeling the behavior of other cells, while [85], [86] present a control method that calculates the goal of a cell based on its previous goal and on its master’s goal. [58] gives a means of estimating the amount of information exchanged be-tween cells, and [163] gives a heuristic for finding master cells for a binary communication tree. Anew behavior selection mechanism is introduced in [34], based on two matrices, the priority matrix and the interest relation matrix, with a learning algorithm used to adjust the priority matrix. Recently, a Micro Autonomous Robotic System(MARS) has been built consisting of robots of 20cubic mm and equipped with infrared communications [121].ACTRESSThe ACTRESS (ACTor-based Robot and Equipments Synthetic System) project [16], [80],[15] is inspired by the Universal Modular AC-TOR Formalism [76]. In the ACTRESS system,“robotors”, including 3 robots and 3 workstations(one as interface to human operator, one as im-age processor and one as global environment man-ager), form a heterogeneous group trying to per-form tasks such as object pushing [14] that cannot be accomplished by any of the individual robotors alone [79], [156]. Communication protocols at different abstraction levels [115] provide a means upon which “group cast” and negotiation mechanisms based on Contract Net [150] and multistage negotiation protocols are built [18]. Various is-sues are studied, such as efficient communications between robots and environment managers [17],collision avoidance [19].SWARM。

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]。

MindCub3r v1p9版解魔方机器人英文网站中英文对照翻译

MindCub3r v1p9版解魔方机器人英文网站中英文对照翻译MindCub3r v1p9 Version - English Website TranslationIntroduction:Welcome to the official website of the MindCub3r v1p9 Version - the Rubik's Cube solving robot! This English website translation aims to provide detailed information about the MindCub3r robot, its features, and its functionality. Through this translation, you will gain better insights into the robot's capabilities and become familiar with its operation.About MindCub3r:MindCub3r is a robotic device designed to solve the Rubik's Cube puzzle. It combines the power of LEGO MINDSTORMS EV3 hardware with sophisticated software algorithms, making it capable of solving the cube independently. By utilizing its advanced sensors and motor control, MindCub3r provides an exciting and interactive experience for Rubik's Cube enthusiasts of all ages.Features of MindCub3r:1. Advanced Robotics Technology:- MindCub3r utilizes state-of-the-art robotics technology, enabling it to analyze and solve the Rubik's Cube accurately and efficiently.- The robot's precision-controlled movements ensure smooth manipulation of the cube, ensuring consistent solving results.2. Intuitive User Interface:- MindCub3r features a user-friendly interface that allows users to interact easily with the robot.- The intuitive controls enable quick setup and initialization, making it accessible for users of varying technical expertise.3. Multiple Solving Techniques:- MindCub3r supports multiple solving techniques, including Layer by Layer, Petrus, and Friedrich.- Users can select their preferred solving technique, and the robot will execute the chosen algorithm accordingly.4. Automatic Scrambling and Solving:- With just a simple command, MindCub3r can automatically scramble and solve the Rubik's Cube, offering an efficient and hassle-free solving experience.- The robot's intelligent algorithm ensures optimal solutions, striving for the shortest time possible.5. Educational Resources:- The MindCub3r website provides a wealth of educational resources, including detailed tutorials, guides, and troubleshooting assistance.- Users can enhance their Rubik's Cube solving skills and deepen their understanding of robotics through the comprehensive learning materials provided.Website Contents:1. Homepage:The homepage provides an overview of the MindCub3r robot, highlighting its key features, and showcasing its solving capabilities through engaging visuals.2. About:This section provides in-depth information about the development and evolution of MindCub3r, along with the team behind its creation. It also emphasizes the educational benefits of the robot.3. Specifications:Users can refer to this section to access technical specifications, such as the robot's dimensions, weight, power source, and compatibility with LEGO MINDSTORMS EV3.4. User Guide:The user guide offers step-by-step instructions on how to set up and operate MindCub3r effectively. It covers aspects such as connecting the robot, configuring the software, and initiating solving sequences.5. Solving Techniques:This section explains the different solving techniques supported by MindCub3r, providing detailed explanations and examples for each method. Users can choose the technique that suits their preferences.6. Troubleshooting:Users encountering any issues can refer to the troubleshooting section for solutions to common problems. This ensures a smooth and uninterrupted experience with the MindCub3r robot.7. FAQ:The FAQ section addresses frequently asked questions, providing quick answers to queries regarding MindCub3r's operation, compatibility, and functionality.Conclusion:The MindCub3r v1p9 Version English website aims to provide a comprehensive and informative resource for individuals interested in the Rubik's Cube solving robot. Through its intuitive interface, detailed guides, and interactive features, the website ensures that users can fully explore and appreciate the capabilities of MindCub3r. So why wait? Dive into the world of MindCub3r and witness the magic of Rubik's Cube solving come to life!。

智能自动移动机器人系统研究中英文外文文献翻译

本科毕业设计（论文）中英文对照翻译(此文档为word格式,下载后您可任意修改编辑!)原文The investigation of an autonomous intelligent mobile robot systemfor indoor environment navigationS KarelinAbstractThe autonomous mobile robotics system designed and implemented for indoor environment navigation is a nonholonomic differential drive system with two driving wheels mounted on the same axis driven by two PID controlled motors and two caster wheels mounted in the front andback respectively. It is furnished with multiple kinds of sensors such as IR detectors ,ultrasonic sensors ,laser line generators and cameras,constituting a perceiving system for exploring its surroundings. Its computation source is a simultaneously running system composed of multiprocessor with multitask and multiprocessing programming. Hybrid control architecture is employed on the rmbile robot to perform complex tasks. The mobile robot system is implemented at the Center for Intelligent Design , Automation and Manufacturfing of City University of Hong Kong.Key words:mobile robot ; intelligent control ; sensors ; navigation IntroductionWith increasing interest in application of autonomous mobile robots in the factory and in service environments，many investigations have been done in areas such as design，sensing，control and navigation，etc. Autonomousreaction to the real wand，exploring the environment，follownng the planned path wnthout collisions and carrying out desired tasks are the main requirements of intelligent mobile robots. As humans，we can conduct these actions easily. For robots however，it is tremendously difficult. An autonomous mobile robot should make use of various sensors to sense the environment and interpret and organize the sensed information to plan a safe motion path using some appropriate algorithms while executing its tasks. Many different kinds of senors havebeen utilized on mobile robots，such as range sensors，light sensors，force sensors，sound sensors，shaft encoders，gyro scope s，for obstacle awidance，localizatio n，rmtion sensing，navigation and internal rmnitoring respectively. Many people use infrared and ultrasonic range sensors to detect obstacles in its reaching ser range finders are also employed in obstacle awidance behavior of mobile robots in cluttered space.Cameras are often introduced into the vision system for mobile robot navigation. Although many kinds of sensors are available，sensing doesn’t mean perceiving. The mechanical shape and driving type are commonly first taken into consideration while implementing a rmbile robot. A robot’s shape can have a strong impact on how robust it is，and DC serve rmtors or stepOper motors are often the two choices to employ as actuators. The shape of a robot may affect its configurations of components，ae sthetics，and even the movement behaviors of the robot. An improper shape can make robot run a greater risk of being trapped in a cluttered room or of failing to find its way through a narrow space. We choose an octahedral shape that has both advantages of rectangular and circular shapes，and overcomes their drawbacks. The framework of the octahedral shaped robot is easy to make，components inside are easily arrange and can pass through narrow places and rotate wrath corners and nearby objects，and is more aesthetic in appearance. The perception subsystem accomplishes the task of getting various data from thesurroundings，including distance of the robot from obstacles，landmarks，etc.Infrared and ultrasonic range sen}rs，laser rangefinders and cameras are utilized and mounted on the rmbile robot to achieve perception of the environment. These sensors are controlled independently by some synchronously running microprocessors that are arranged wrath distributive manner，and activated by the main processor on which a supervising program runs. At present，infrared and ultranic sensors，laser rangefinders are programmed to detect obstacles and measure distance of the robot from objects in the environment，and cameras are programmed for the purpose of localization and navigation.The decision-making subsystem is the most important part of an intelligent mobile robot that organizes and utilizes the information obtained from the perception subsystem. It obtains reasonable results by some intelligent control algorithm and guides the rmbile robot. On our mobile robotic system intelligence is realized based on behaviourism and classical planning principles. The decision-making system is composed of twa levels global task planning based on knowledge base and map of working enviro nment，reactive control to deal with the dynamic real world. Reaction tasks in the decision-making system are decomposed into classes of behaviors that the robot exhibits to accomplish the task. Fuzzy logic is used to implement some basic behaviors. A state machine mechanism is applied to coordinate different behaviors. Because manykinds of electronic components such as range sensors，cameras，frame grabbers，laser line generators，microprocessors，DC motors，encoders，are employed on the mobile robot，a power source must supply various voltage levels which should are stable and have sufficient power. As the most common solution to power source of mobile robots，two sealed lead acid batteries in series writh 24 V output are employed in our mobile robot for the rmtor drive components and electronic components which require 24 V，15V，士12V，+9V，士5V，variously. For the conversion and regulation of the voltage，swritching DC DC converters are used because of their high efficiency，low output ripple and noise，and wride input voltage range. Three main processors are Motorola MC68040 based single board computers on which some supervisory programs and decision-making programs run. These MC68040 boards run in parallel and share memory using a VMEbus. Three motorola MC68HC11 based controllers act as the lower level controllers of the infrared and ultranic range senors，which communicate with the main processors through serial ports. The multi-processor system is organized into a hierarchical and distributive structure to implement fast gathering of information and rapid reaction. Harmony，a multiprocessing and multitasking operating system for real-time control，runs on the main processors to implement multiprocessing and multitasking programming. Harmony is a runtime only environment and program executions are performed by downloadingcrosscompiled executable images into target processors. The hardware architecture of the mobile robot is shown in Fig. Robots control For robots，the three rmst comrmn drive systems are wheels，tracks and legs. Wheeled robots are mechanically simpler and easier to construct than legged and tracked systems that generally require more complex and heavier hardware，so our mobile robot is designed as a wheeled robot. For a wheeled robot，appropriate arrangements of driving and steering wheels should be chosen from differential，synchro，tricycle，and automotive type drive mechanisms. Differential drives use twa caster wheels and two driven wheels on a common axis driven independently，which enable the robot to move straight，in an arc and turn in place. All wheels are rotate simultaneously in the synchro drive;tricycle drive includes two driven wheels and one steering wheel;automobile type drive rotates the front twa wheels together like a car. It is obvious that differential drive is the simplest locomotion system for both programming and construction.However，a difficult problem for differentially driven robots is how to make the robot go straight，especially when the motors of the two wheels encounter different loads. To follow a desired path，the rmtor velocity must be controlled dynamically. In our mobile robot system a semv motor controller is used which implements PID control.Ibwer amplifiers that drive the motors amplify the signals from each channel of serwcontroller. Feedback is provided by shaft encoders on the wheels.The block diagram of the motor control electronic components are shown in Fig. 2，and the strategy of two wheel speed control based PID principle is illustrated in Fig.3. Top loop is for tracking the desired left motor velocity;bottom loop for tracking right motor velocity;Integral loop ensures the robot to go straight as desired and controls the steering of the robot. This is a simple PI control that can satisfy the general requirements.Sensing subsystemSensor based planning makes use of sensor information reflecting the current state of the environment，in contrast to classical planning，which assumes full knowledge of the environment prior to planning. The perceptive subsystem integrates the visual and proximity senors for the reaction of the robot. It plays an important role in the robot behavioral decision-making processes and motion control. Field of view of perceptive subsystem is the first consideration in the design of the sensing system. Fneld of view should be wide enough with sufficient depth of field to understand well the robot’s surroundings. Multiple sensors can provide information that is difficult to extract from single sensor systems. Multiple sensors are complementary to each other，providing a better understanding of the work environment. Omnidirectional sensory capability is endowed on our mobile robot. When attempting to utilize multiple senors，it must be decided how many different kinds of sensorsare to be used in order to achieve the desired motion task，both accurately and economically.Ultrasonic range sensing is an attractive sensing rmdalityfor mobile robots because it is relatively simple to implement and process，has low cost and energy consumption. In addition，high frequencies can be used to minimize interference from the surrounding environment. A special purpose built infrared ranging system operates similar to sonar，determining the obstacle’s presence or absence and also the distance to an object. For detecting smaller obstacles a laser rangefinder can be used. It can be titled down to the ground to detect the small objects near the robot. Identifying robot self position and orientation is a basic behavior that can be part of high level complex behaviors. For localizing a dead reckoning method is adopted using the output of shaft encoders. This method can have accumulated error on the position and orientation. Many external sensors can be used for identification of position and orientation. Cameras are the most popular sensor for this purpose，because of naturally occurring features of a mom as landmarks，such as air conditioning system，fluorescent lamps，and suspended ceiling frames.Any type of sensor has inherent disadvantages that need to be taken into consideration. For infrared range senors，if there is a sharply defined boundary on the target betweendifferent materials，colors，etc.，the sensor may not be able to calculate distance accurately. Some of these problemscan be avoided if due care is taken when installing and setting up the sensor. Crosstalk and specular reflection are the two main problems for ultrasonic sensors. The firing rates，blanking intervals，firing order，and timeouts of the ultrasonic sensor system can configured to improve performance. Laser ranging systems can fail to detect objects made of transparent materials or with poor light reflectivity. In this work，we have chosen range sensors and imaging sensors as the primary source of information. The range sensors employed include ultrasonic sensors and short and long range infrared sensors with features above mentioned. The imaging sensors comprise gray scale video cameras and laser rangefinders. Twenty-four ultrasonic sensors are arranged in a ring with a separation angle of 15 degrees on our mobile robot to detect the objects in a 3600 field of view. This will allow the robot to navigatearound an unstructured environment and to construct ac curate sonar maps by using environmental objects as naturally occurring beacons. With the sonar system we can detect objects from a minimum range of 15 cm to a maximum range of 10. 0 m. Infrared range sensors use triangulation，emitting an infrared spot from an emitter，and measuring the position of the imaged spot with a PSD (position sensitive detector).Since these devices use triangulation，object color，orientation，and ambient light have greater effect on sensitivity rather than accuracy. Since the transmission signal is light instead of sound，we may expect a dramatically shortercycle time for obtaining all infrared sensor measurements. A getup of 16 short and a group of 16 long infrared sensors are mounted in twa rings with equal angular Generally speaking，the robot motion closed control loops comprising sensing，planning，and acting should take very short cycle times，so a parallel computation mechanism is employed in our mobile robot based on multiprocessor. Usually we can make events run in parallel on single microprocessor or multiprocessor by twa methods，multitasking and multiprocessing. Well known multitasking OS is like Microsoft window' 95 and UNIX OS that can make multitask run in parallel on a sequential machine by giving a fraction of time to each behavior looply. In fact，multitask mechanism just simulates the effect of all events running simultaneously. Running all events on multiprocessor can realize true parallelism. In our mobile robot，using Harmony OS both multitasking and multiprocessing programming is implemented on multiprocessor (MC68040 processors) which share memories and communicate each other by VMEbus. Harmony allows creating many tasks as desired which can be map toseveral microprocesors and run in parallel .In addition，tasks written in C run on MC68040 can activate the assembly code in the MC68HC11 SBC which control infrared and ultrasonic sensors and get distances dates. These SBC run simultaneously with MC68040 processors. An instance of an implemented task structure is shown in Fng. 5.Some experiments，such as following lines，avoiding obstacles and area filling have been carried out on the rmbile system to demonstrates its real-time reactions to the working surroundings and robustness of the system. ConclusionWe have described the implementation of a intelligent mobile robot testbed for autonomous navigation in indoor environments and for investigation of relative theories and technologies of intelligent systems. The robot is furnished with range sensors，laser line generators and vision system to perceive its surroundings. Parallel computation based on multiprocessor is employed in the mobile robot to improve its power of reasoning and response. Low level processing and sensor control is carried out with low cost dedicated microcontrollers. A task based real-time operating system supports a variety of different control structures，allowing us to experiment with different approaches. The experiments indicate the effectiveness of the mobile robot system .The platform has been used for experimenu and research such as sensor data fusion，area filling，feedback control，as well as artificial intelligence.译文基于室内环境导航的智能自动移动机器人系统研究卡若琳摘要这种为室内境导航条件下设计生产的自主移动机器人系统是一个不完整的差速传动系统，它有两个安装在同一轴上通过两个PID控制的电机驱动的驱动轮和两个分别安装在前部和后部的脚轮。

工业机器人毕业设计外文翻译

外文资料：INDUSTRIAL ROBOTSMechatronicsThe success of industries in manufacturing and selling goods in a world market increasingly depends upon an ability to integrate electronics and computing technologies into a wide range of primarily mechanical products and processes. The performance of many current products-cars, washing machines, robots or machine tools-and their manufacture depend on the capacity of industry to exploit developments in technology and to introduce them at the design stag into both products and manufacturing processes. The results so that the whole industrial system to produce a cheaper and easier than in the past, more reliable, more powerful manufacturing technology, this intense competition, leading to the original electronic engineering and mechanical engineering have been gradually difference among the various disciplines with engineering design replaced with the mutual penetration, resulting in a mechanical and electrical integration, or mechatronics.In this competitive environment, the success of products and technologies are those that effectively combine the electronic and mechanical products, but not the main reason is the absence of a successful application of electronic technology. General product innovation in machine-building industry, often starting from the mechanical hardware design, but in order to achieve vision, from the initial stages of the design process must take full account of electronic technology, control engineering and computer technology. Research from the machinery and electronics to engineering design, the key is through the mechanics and electronics hidden boundaries, put them together, it is understood today the key to this transformation took place.To be successful, early in the design of the study need to establish the concept of mechatronics, when the specific program has not yet formed, so there is choice. In this way, design engineers, especially mechanical design engineers will be able to make a decision too quickly to avoid falling into the stereotypes and reduce productivity.Fully study the market trend, we will find electromechanical integration with a design, will lead to a revival of the field, such as high-speed textile machines, measurement and measurement systems, and automatic test equipment, integrated circuits Xiang kind of special equipment. In many cases sub ah, the emerging field of production and recovery are often formed by the embedded microprocessor electronics and basic mechanical system caused by the integrated and enhanced processing capacity.Flexibility of the manufacturing process the request resulted in the production of flexible operating system concepts in this system, many components such as computer numerical control machine tools, robots and automatic guided vehicles, etc. associated with joint production, exchange of information between them through Local Area Network.The products so far, most do not realize the design of electromechanical integration of diversity for the engineering sudden opportunity. The final product sold to customers is the essence of our revenue sources, which may begin the application is the date the new mechatronic products and provide enhanced functionality important difference between traditional products.The following examples may illustrate that the traditional products: Automatic transmission control engine and automatic control of the development of engines and transmissions tend to reduce the radiation, save fuel and time by preventing excessive speed and the use of the fuel flow can be adjusted to avoid false-driven gear and so on.Power-driven tools of modern power-driven tools, such as drill bits you can provide a variety of functions, including speed and torque control, reverse action and acceleration control.The new examples of mechatronic products are as follows:Standard components assembled a traditional industrial robot because of structural problems often many restrictions. Using a number of structural parts and drive, coupled with the central processor can be made by the standard components to assemble the robot system, so users can assemble to meet their own needs various robots.Video and CD player, video and CD player laser head is equipped with sophisticated, you can read the digital information on the disk. Withmicroprocessor control system can provide multi-track selection, scan preview and many other features.The above examples show that the purpose of the use of machinery is the continuous improvement of electronic consumer goods, not to keep consumer prices lower. Machinery and electronics products provide solutions to specific problems of the ideal way to use a low-cost element or standards.The personal computer controller and programmable logic controllerEarly machine tools and robots in the controller's function is to store and perform some simple procedures for the implementation of the tool or device with a predetermined speed to generate the required movement. Since 1981, IBM's first since the emergence of personal computers, many manufacturers produce microprocessors based on its so-called. Through the main memory and secondary storage devices exchange data, which allows users to use than the system microprocessor to provide the actual storage space for more storage space programming. It is this processing power and storage efficiency had a dramatic impact, making more and more industrial sectors to PC, for data acquisition and control applications. In addition to handling capabilities, PC machine control applications as a key component of many other advantages. These advantages are:(1) choice of application software more than a dedicated controller.(2) Select the tools to improve application efficiency and room for more.(3) The PC is available in a variety of forms ranging from a single card, a portable,a desktop and ruggedized industrial version for use on the factory floor.(4) bus architecture with multiple expansion slots, digital and analog input / output cards can be produced by several manufacturers.(5) special machine or a small computer than a more flexible, depending on the application can be very convenient for a variety of configurationsPC, data acquisition and control device may be an additional external and interest rates through, or it may be a plug-in board. Typically add a separate external rack, the internal packaging has to provide power to the host through the serial or parallel data communications cable. A variety of standard format modules can be inserted in the rack as needed.PC, data acquisition There are basically two ways. The first use of analog /digital conversion card connected directly with the host backplane. Conversion cards generally do port address can be any support for input / output command driven programming language. Usually connected to the card, select the base address. This allows a different card or card number the same host in the same PC connection and operation. The second method is to use the interface circuit board with a digital voltage meter and frequency meter and other equipment to control the PC, to receive data. The Common Criteria is an international Association of Electrical and Electronics Engineers IEEE-488 standard parallel communication link. Comparison of fast, easy and economical is the first approach, using the input / output port address the card to the PC, the output of the measurement data or control signals received from the PC machine. These cards are versatile, easy to obtain, and has the following characteristics:(1) multi-channel digital input / Shucu interface with optical isolation and Darlington driver settings.(2) pulse timing and counting facilities.(3) multi-channel programmable A / D conversion.(4) D / A conversion.(5) thermocouple input.PC machine control applications including the latest developments in data acquisition and control software, can provide the user with a drop-down menus and mouse-driven windows environment.Before the invention of the computer control system main relay logic circuit with electrical or pneumatic logic circuits to automate. The late 20th century invention of 60 programmable logic controllers (PLC) directly instead of the relay controller. It should be noted, in the United States, also known as programmable logic controller PLC, abbreviated as PC. Do it with a personal computer PC or IBM-PC to be confused.Programmable logic controllers and micro-computer composed of the same, there are microprocessors, memory and input / output devices. Processor performs memory control process according to input instructions, defined by the logic control program to provide output. Every step during the implementation period, the program is quickly scanned to record all of the input state, then the program logic to determine output. Controller scan each of these steps are repeated.Some small, dedicated to the sequential control of the programmable logic controller usually has 12 input ports and eight output ports are extended to both pinch the 128 input / output circuit. Input interface connected to these lines, the process of receiving input signals from the control, and these signals into a form suitable for processing. Similarly, the programmable logic controller output interface with a variety of process hardware, such as lights, motors, relays and spiral coil.Using a handheld programming keyboard, or with the corresponding software development kit with a personal computer connected to the programmable controller command input random access memory, the random access memory with battery backup power supply generally. If the programmer to establish procedures for using the symbol key, and some programming console LCD display can also display some of the graphics, using ladder logic diagram shows the format process. After a debugging program, the control method through simulation testing, you can put code into erasable programmable read-only memory chips, mounted on the programmable logic controller.Many manufacturers are in the manufacture of programmable logic controller. Although some manufacturers use their own proprietary software language, but most are still using ladder logic diagrams. Invention of this language is intended to be more acceptable to some customers, these customers are interested in is how to shift from hard-line programmable logic controller, relay control. In addition to input / output devices, the programmable logic controller also includes timers, counters, and other special function devices.Communication with other control devices exchange the traditional programmable logic controller is not the strengths of the network. Many industrial controllers are equipped with RS232 serial port, and other digital control equipment systems to exchange information.The robotIndustrial robot is a tool to improve manufacturing productivity. He can assume that humans may have dangerous jobs. The first industrial robot in nuclear power plants had to be replaced and the fuel rods. Industrial robots can work on the assembly line, such as the installation of electronic components, printed circuitboard. In this way, people can escape the monotony of the work stand out. Robots can also remove the bomb, as the disabled person services for our community to do all kinds of work.Robot is a re-programming, multi-agency work can be pre-programmed positions in all moving parts, materials, tools or other special equipment, complete a variety of different jobs.The location is pre-programmed robot to complete the work must follow the path. In some pre-programmed location, the robot will stop some operations, such as installing parts, painting or welding. These pre-programmed location is stored in the robot's memory to recall at any time of continuous operation. If the job requirements changed, the location of these pre-programmed data, together with other programming can be changed. These characteristics make industrial robot programming and computer are very similar.Robot system can control the robot's work unit. Robot work cell robots perform tasks in the work environment. Unit of work, including the robot manipulator, controller, working platforms, safety equipment and gear. In addition, the robot should be able to communicate with the outside world signals.Robot manipulator to complete the specific work of the robot system, which consists of two parts: the mechanical parts and ancillary parts. Subsidiary part of the installed robot base. Several fixed on the floor at the job site. But sometimes the base is able to move, in this case, the base placed in orbit for the robot from one location to another location should be.Subsidiary part of the robot arm. It may be a straight arm can move, it may be a hinged arm, the robot work to provide multiple axes. Articulated arm that is connected to the relevant section of the arm. End of the arm with a wrist. Wrist mounted on another shaft and fitted with flange root. In the flange also can be connected to different tools to complete different tasks. Mechanical axis allows the robot hand in a specific area to work. This area is called the robot unit of work, it depends on the size of the robot. If the robot the size of the increase will increase the size of the unit of work.Manipulator movement control drive or drive system. They drive the state work unit in the rotation. Drive system can make the electrical, hydraulic, it can be pneumatic. Drive power generated by the various institutions converted intomechanical energy, all kinds of drive system is connected by mechanical transmission. Those from the chain, gears and ball screw driven mechanical transmission device composed of the axis of the robot.Used to control the robot to control its movement and the work unit of the external device. Handheld keyboard by hanging the movement of the robot controller program input. The data stored in the controller's memory for future calls.Controllers also work in the unit with an external device to communicate. For example, the controller has an input line. Completion of processing input lines connected, high-speed controller for robot pick in the specified location processed parts. Mechanical hand a new part into the machine, the controller send a signal to start processing.Some of the drum controller is composed by a mechanical operation, the internal implementation of the input sequence of events. The controller is generally used very simple robot system. Most of the robot controller in your system much more complex, reflecting the latest developments in electronic technology. They are controlled by the microprocessor, the operation more flexible.The controller can transmit signals in the communications line. This mechanical hand and two-way communication between the controllers continuously update the location and operation of the system. The controller also includes a computer with different devices to communicate. This communication link to the robot as part of computer-aided manufacturing systems. Microprocessor system uses solid-state storage devices. These storage devices may be magnetic guns, random access memory, floppy disks and tapes.Controller and the robot powered by a power source supply. Robotic systems typically use two kinds of power: a controller may provide alternating current; the other power source used to drive each axis manipulator. For example, if the robot is controlled by a hydraulic or pneumatic drive, these devices will receive the control signal, a robot in motion.The robot sensorAlthough the robot has great ability, but often than not with a little practice, but the workers. For example, workers can find parts that fell on the ground or no parts feeder. But not the sensor, the robot will not get this information. Even the mostsophisticated sensor system, the robot is smaller than an experienced worker. Therefore, a good robot system design requires many sensor and robot controller using the phase to make it operate as close as possible the perception of workers. The most frequently used robotics sensors into contact with the non-contact. Contact sensors can be further divided into tactile sensors, force and torque sensors. Tactile or contact sensors can be measured by the drive-side and the actual contact between other objects, micro-switch is a simple tactile sensor. When the robot by the drive-side contact with other objects, the robot stop motion sensors to avoid collisions between objects to tell the robot has reached the goal; or detection to measure the size of the object. Force and torque sensors in the robot's gripper and wrist joint between the last, or the load on the robot parts, measuring reaction force and torque. Force and torque sensors and piezoelectric sensors are mounted on flexible parts of the strain gauges.Non-contact sensors include proximity sensors, vision sensors, sound detectors, sensitive components and scope. Proximity sensors detect objects near the sensor and the label. For example, eddy current sensor can accurately maintain a fixed distance between the plates. Most cheap robot proximity sensors including a light-emitting diode and a photodiode receiver transmitter, receiver reflector closer to the reflection of light. The main disadvantage of this sensor is closer to the object reflectance of light will affect the received signal. Other proximity sensors using capacitance and inductance associated with the principle.Visual sensing system is very complex, based on the TV camera or laser scanner works. Video signal by hardware pretreatment to 30-60 per second input into the computer. Computer analysis of the data and extract the required information, such as the existence of objects and object features, location, direction of operation, or assembly of components and product testing is complete.Sound sensitive devices used to sense and interpret sound waves. To detect sound waves from the basic continuous speech word for word recognition that people, all kinds of sound ranging from the complexity of sensitive components. In addition to human verbal communication, the robot can use voice control of sensitive components arc welding, I heard the voice of the collision or the collapse of the movement of the robot when the organization to predict the mechanical damage will occur and the detection of objects within the defects.There is also a non-contact systems for projector and imaging the surface of the object surface shape information or distance information.Static detection and closed-loop sensor probe used in two ways. When the detection and operation of the robot system moves alternately, it is usually necessary to use the sensor. That probe is a robot is not operating, the operation has nothing to do with the sensors, this method is called static detection. In this way, vision sensors are looking for is to capture the position and direction of the object, then the robot moves straight to the site.In contrast, closed-loop operation of motion detection robot, always under the control of the sensor. Most sensors are closed loop mode, they can always detect the actual location of the robot and the deviation between the ideal position, and drive the robot fix this error. In the closed-loop detection, even if the object in motion, for example, the conveyor belt, the robot can grasp it and sent it to the desired location.However, in the early 20th century, 80, a number of factors hindered the development of closed-loop detection. The most important reason is the image map for too long, almost equal to the robot move from one place to another time. For practical, for the robot arm motion, image analysis time by reducing down time should be able to accept and explain a few frames.In the use of force and tactile sensor control movement, reaction time to visual sensor that is no longer a problem, because very little information when the sensor transmission. In other words, we can placed on the wrist force and torque sensor 6, or place a finger on the low-resolution binary sensor array. Since the sensor more complex, we can expect delivery by the sensor data can be more of information.中文翻译：工业机器人机电一体化在国际市场中，制造业和工业产品德销售业绩取得的成绩，越来越依靠电子技术和计算机技术与传统机械制造和机械产品的广泛结合。

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附录：外文资料与中文翻译外文资料：RobotsFirst, I explain the background robots, robot technology development. It should be said it is a common scientific and technological development of a comprehensive results, for the socio-economic development of a significant impact on a science and technology. It attributed the development of all countries in the Second World War to strengthen the economic input on strengthening the country's economic development. But they also demand the development of the productive forces the inevitable result of human development itself is the inevitable result then with the development of humanity, people constantly discuss the natural process, in understanding and reconstructing the natural process, people need to be able to liberate a slave. So this is the slave people to be able to replace the complex and engaged in heavy manual labor, People do not realize right up to the world's understanding and transformation of this technology as well as people in the development process of an objective need.Robots are three stages of development, in other words, we are accustomed to regarding robots are divided into three categories. is a first-generation robots, also known as teach-type robot, it is through a computer, to control over one of a mechanical degrees of freedom Through teaching and information stored procedures, working hours to read out information, and then issued a directive so the robot can repeat according to the people at that time said the results show this kind of movement again, For example, the car spot welding robots, only to put this spot welding process, after teaching, and it is always a repeat of a work１It has the external environment is no perception that the force manipulation of the size of the work piece there does not exist, welding 0S It does not know, then this fact from the first generation robot, it will exist this shortcoming, it in the 20th century, the late 1970s, people started to study the second-generation robot, called Robot with the feeling that This feeling with the robot is similar in function of a certain feeling, for instance, force and touch, slipping, visual, hearing and who is analogous to that with all kinds of feelings, say in a robot grasping objects, In fact, it can be the size of feeling out, it can through visual, to be able to feel and identify its shape, size, color Grasping an egg, it adopted a acumen, aware of its power and the size of the slide. Third-generation robots, we were a robotics ideal pursued by the most advanced stage, called intelligent robots, So long as tell it what to do, not how to tell it to do, it will be able to complete the campaign, thinking and perception of this man-machine communication function and function Well, this current development or relative is in a smart part of the concept and meaning But the real significance of the integrity of this intelligent robot did not actually exist, but as we continued the development of science and technology, the concept of intelligent increasingly rich, it grows ever wider connotations.Now, I would like to briefly outline some of the industrial robot situation. So far, the industrial robot is the most mature and widely used category of a robot, now the world's total sales of 1.1 million Taiwan, which is the 1999 statistics, however, 1.1 million in Taiwan have been using the equipment is 75 million, this volume is not small. Overall, the Japanese industrial robots in this one, is the first of the robots to become the Kingdom, the United States have developed rapidly. Newly installed in several areas of Taiwan, which already exceeds Japan, China has only just begun to enter the stage of industrialization, has developed a variety of industrial robot prototype and small batch has been usedin production.Spot welding robot is the auto production line, improve production efficiency and raise the quality of welding car, reduce the labor intensity of a robot. It is characterized by two pairs of robots for spot welding of steel plate, bearing a great need for the welding tongs, general in dozens of kilograms or more, then its speed in meters per second a 5-2 meter of such high-speed movement. So it is generally five to six degrees of freedom, load 30 to 120 kilograms, the great space, probably expected that the work of a spherical space, a high velocity, the concept of freedom, that is to say, Movement is relatively independent of the number of components, the equivalent of our body, waist is a rotary degree of freedom We have to be able to hold his arm, Arm can be bent, then this three degrees of freedom, Meanwhile there is a wrist posture adjustment to the use of the three autonomy, the general robot has six degrees of freedom. We will be able to space the three locations, three postures, the robot fully achieved, and of course we have less than six degrees of freedom. Have more than six degrees of freedom robot, in different occasions the need to configure.The second category of service robots, with the development of industrialization, especially in the past decade, Robot development in the areas of application are continuously expanding, and now a very important characteristic, as we all know, Robot has gradually shifted from manufacturing to non-manufacturing and service industries, we are talking about the car manufacturer belonging to the manufacturing industry, However, the services sector including cleaning, refueling, rescue, rescue, relief, etc. These belong to the non-manufacturing industries and service industries, so here is compared with the industrial robot, it is a very important difference. It is primarily a mobile platform, it can move to sports, there are some arms operate, also installed some as a force sensor and visual sensors, ultrasonic ranging sensors,３etc. It’s surrounding environment for the conduct of identificatio n, to determine its campaign to complete some work, this is service robot’s one of the basic characteristics.For example, domestic robot is mainly embodied in the example of some of the carpets and flooring it to the regular cleaning and vacuuming. The robot it is very meaningful, it has sensors, it can furniture and people can identify, It automatically according to a law put to the ground under the road all cleaned up. This is also the home of some robot performance.The medical robots, nearly five years of relatively rapid development of new application areas. If people in the course of an operation, doctors surgery, is a fatigue, and the other manually operated accuracy is limited. Some universities in Germany, which, facing the spine, lumbar disc disease, the identification, can automatically use the robot-aided positioning, operation and surgery Like the United States have been more than 1,000 cases of human eyeball robot surgery, the robot, also including remote-controlled approach, the right of such gastrointestinal surgery, we see on the television inside. a manipulator, about the thickness fingers such a manipulator, inserted through the abdominal viscera, people on the screen operating the machines hand, it also used the method of laser lesion laser treatment, this is the case, people would not have a very big damage to the human body.In reality, this right as a human liberation is a very good robots, medical robots it is very complex, while it is fully automated to complete all the work, there are difficulties, and generally are people to participate. This is America, the development of such a surgery Lin Bai an example, through the screen, through a remote control operator to control another manipulator, through the realization of the right abdominal surgery A few years ago our country the exhibition, the United States has been successful in achieving the right to theheart valve surgery and bypass surgery. This robot has in the area, caused a great sensation, but also, AESOP's surgical robot, In fact, it through some equipment to some of the lesions inspections, through a manipulator can be achieved on some parts of the operation Also including remotely operated manipulator, and many doctors are able to participate in the robot under surgery Robot doctor to include doctors with pliers, tweezers or a knife to replace the nurses, while lighting automatically to the doctor's movements linked, the doctor hands off, lighting went off, This is very good, a doctor's assistant. Robot is mankind's right-hand man; friendly coexistence can be a reliable friend. In future, we will see and there will be a robot space inside, as a mutual aide and friend. Robots will create the jobs issue. We believe that there would not be a "robot appointment of workers being laid off" situation, because people with the development of society, In fact the people from the heavy physical and dangerous environment liberated, so that people have a better position to work, to create a better spiritual wealth and cultural wealth.５中文翻译：机器人首先我介绍一下机器人产生的背景，机器人技术的发展，它应该说是一个科学技术发展共同的一个综合性的结果，同时，为社会经济发展产生了一个重大影响的一门科学技术，它的发展归功于在第二次世界大战中各国加强了经济的投入，就加强了本国的经济的发展。

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