外文翻译--六自由度机器人
六自由度并联机器人基于
Grassmann-Cayley代数的奇异性条件
Patricia Ben-Horin和Moshe Shoham，会员，IEEE
摘要
本文研究了奇异性条件大多数的六自由度并联机器人在每一个腿上都有一个球形接头。首先,确定致动器螺丝在腿链中心。然后用凯莱代数和相关的分解方法用于确定哪些条件的导数(或刚度矩阵)包含这些螺丝是等级不足。这些工具是有利的,因为他们方便操纵坐标-简单的表达式表示的几何实体,从而使几何解释的奇异性条件是更容易获得。使用这些工具,奇异性条件(至少)144种这类的组合被划定在四个平面所相交的一个点上。这四个平面定义为这个零距螺丝球形关节的位置和方向。指数Terms-Grassmann-Cayley代数，奇点，三条腿的机器。
一、介绍
在过去的二十年里,许多研究人员广泛研究并联机器人的奇异性。不像串联机器人,失去在奇异配置中的自由度,尽管并联机器人的执行器都是锁着但是他们的的自由度还是可以获得的。因此,这些不稳定姿势的全面知识为提高机器人的设计和确定机器人的路径规划是至关重要的。
主要的方法之一,用于寻找奇异性并行机器人是基于计算雅可比行列式进行的。Gosselin和安杰利斯[1]分类奇异性的闭环机制通过考虑两个雅克比定义输入速度和输出速度之间的关系。当圣鲁克和Gosselin[2]减少了算术操作要求定义的雅可比行列式高夫·斯图尔特平台(GSP),从而使数值计算得到多项式。
另一个重要的工具,为分析螺旋理论中的奇异性,首先阐述了1900的论文[6]和开发机器人应用程序。几项研究已经应用这个理论找到并联机器人的奇异性,例如,[11]-[14]。特别注意到情况,执行机构是线性和代表螺丝是零投的。在这些情况下,奇异的配置是解决通过使用几何,寻找可能的致动器线依赖[15]-[17]。其他分类方法闭环机制可以被发现在[18]-[22]。
在本文中,我们分析了奇异点的一大类三条腿的机器人,在每个腿链有一个
球形接头上的任何点。我们只关注了正运动学奇异性。首先,我们发现螺丝相关执行机构的每个链。因为每一个链包含一个球形接头,自致动器螺丝是相互联合的,他们是通过球形关节的零螺距螺杆螺丝。然后我们使用Grassmann-Cayley 代数和相关的发展获得一个代数方程,它源于管理行机器人包含的刚度矩阵。直接和高效检索的几何意义的奇异配置是最主要的一个优点,在这里将介绍其方法。
虽然之前的研究[53]分析7架构普惠制,各有至少三条并发关节,本文扩展了奇点分析程度更广泛的一类机器人有三条腿和一个球形关节。使用降低行列式和Grassmann-Cayley运营商我们获得一个通用的条件,这些机器人的奇异性提供在一个简单的几何意义方式计算中。
本文的结构如下。第二节详细描述了运动学结构的并联机器人。第三节包含一个简短的在螺丝和大纲性质的背景下驱动器螺丝,零距螺丝作用于中心的球形关节。第四部分包含一个介绍Grassmann-Cayley代数的基本工具用于寻找奇异性条件。这部分还包括刚度矩阵(或导数)分解成坐标自由表达。第五节中一个常见的例子给出了这种方法。最后,第六章比较了使用本方法结果与结果的其他技术。
二、运动构架
本文阐述了6自由度并联机器人有六间连通性基础和移动平台。肖海姆和罗斯[54]提供了调查可能的结构,产生基于流动公式6自由度的Grubler和Kutzbach。他们寻找了所有的可能性,满足这个公式对关节的数目和任何链接。GSP和三条腿的机器人结构的一个子集所列出的6自由度Shoham和罗斯。一个类似的例子也证实了了Podhorodeski和Pittens[55],他发现了一个类的三条腿的对称并联机器人,球形关节、转动关节的平台在每个腿比其他结构潜在有利。正如上面所讨论的,大多数的报告文献限制他们的分析结构和球形关节位于移动平台和棱柱关节作为驱动的关节。在这个分类,我们包括五种类型的关节和更多的可选职位的球形关节。
我们处理机器人有三个链连接到移动平台,每个驱动有两个1自由度关节或一个二自由度关节。这些链不一定是平等的,但都有移动和连接六个基地和之间的平台。除了球形接头(S),关节考虑是棱镜(P),转动(R)、螺旋(H)、圆柱(C)和通用(U),前三个是1自由度关节和最后两个二自由度的关节。所有的可能性都显
示在表I和II。该列表只包含机器人,有平等的连锁,总计144种不同的结构,但是机器人与任何可能的组合链也可以被认为是membersof这类方法。组合的总数,大于500 000,计算方式如下:
三、管理方法
本节涉及螺丝和平台运动的确定。因为考虑机器人有三个串行链,每个驱动器螺丝的方向可以由其互惠到其他关节螺钉固定在链条。被动球形接头在每个链部队驱动器螺丝为零距(行)并且通过它的中心。因此,三个平面是创建中心位于自己的球形关节。
以下简要介绍了螺旋理论,广泛的解决[7],[73],[75];我们解决在第二节中列出相互的所有关节螺钉系统。
上述类的机器人的几何结果奇点现在相比其他方法获得的结果要准确。首先,我们比较奇异条件在上述3 GSP平台与结果报告线几何方法。
根据相对几何条件的他行方法区分不同的几种类型沿着棱镜致动器[81]的奇异性。我们表明,所有这些奇异点是特定情况下的条件通过(17 c)提供,这是有效的三条腿以及6:3 GSP平台的机器人的考虑。这种结构的奇异的配置根据线几何分析包括五种类型:3 c、4 b、4 d,5 a和5 b[17],[36]。
四、奇异性分析
本节确定奇异性条件定义在第二节的机器人。第一部分包括寻找方向的执行机构的行动路线,基于解释第三节中介绍。他行通过球形接头中心,而他们的方向取决于关节的分布和位置。第二部分包括应用程序的方法使用了Grassmann-Cayley代数在第四节定义奇点。因为每对线满足在一个点(球形接头),所有例子的解决方案是象征性地平等,无论点位置的腿或腿的对称性。我们从文献中举例说明使用三个机器人的解决方案。
1.方向的致动器螺丝
第一个例子是3-PRPS机器人提出Behi[61][见图3(a)]。对于每个腿驱动螺丝躺在这家由球形接头中心和转动关节轴。特别是,致动器螺杆是垂直于轴的,和致动器螺杆是垂直于轴的,这些方向被描绘在图3(b)。
第二个例子是the3-USR机器人提出Simaan et al。[66][见图4(a)]。每条腿有驱动器螺丝躺在通过球形接头中心和包含转动关节轴中。驱动器螺丝穿过球形接头中心并与转动关节轴相连。这些方向被描绘在图4(b)。
第三个例子是3-PPSP Byun建造的机器人和[65][见图5(一个)]。每条腿,驱动螺丝躺在飞机通过球形接头中心和正常的棱镜接头轴。驱动器螺丝垂直于轴的,和致动器螺杆是垂直于轴的,这些方向被描绘在图5(b)。
图3 (a)3-PRPS机器人提出Behi[61]
(b)飞机和致动器螺丝
(b)飞机和致动器螺丝的3自由度机器人
(b)飞机和致动器螺丝
2、.奇异性条件
雅克(或superbracket)的机器人是分解成普通支架monomials使用麦克米兰的分解,即(16)。解释部分3—b机器人，本文认为每个链有两个零距驱动器螺丝通过球形接头。拓扑,这个描述等于行6:3 GSP(或在[53]),这三条线,每经过一个双球面上的接头平台(见图6)。这意味着每对线共享一个公共点(这些点在图6中)。因此类的机器人被认为是在本文中,我们可以使用相同的标记点的至于6:3 GSP。六线与相关各机器人通过双点,并且,用同样的方式在图6。
图6 6 - 3 GSP
五、结果
本文提出一个广义奇异性分析并联机器人组成元素。这些是有一个球形接头在每个腿链的三条腿的6自由度机器人。因为球形关节需要驱动器，螺丝是纯粹的力量作用于他们的中心,他们的位置沿链是不重要的。组成元素包括144机制不同类型的关节,每个都有不同的联合装置沿链。提出并建立描述几个机器人出现在列表中。大量的机器人相关的分析组合不同被认为是。奇点的分析是由第一个找到的执行机构使用互惠的螺丝。然后,借助组合方法和Grassmann-Cayley方法,得到刚度矩阵行列式在一个可以操作的协调自由形式,可以翻译成一个简单的几何条件之后。其定义是几何条件由执行机构位置的线条和球形接头,至少有一个相交点。这个有效的奇异点条件考虑所有组成元素中的机器人。一个比较的结果与结果的奇点证明了其他技术所有先前描述奇异条件实际上是特殊情况下的几何条件的四架飞机交叉在一个点,一个条件获取的方法直接在这里提出。
Singularity Condition of
Six-Degree-of-Freedom
Three-Legged Parallel Robots Based on Grassmann–Cayley Algebra Patricia Ben-Horin and Moshe Shoham, Associate Member, IEEE
ABSTRACT
This paper addresses the singularity condition of a broad class of six-degree-of-freedom three-legged parallel robots that have one spherical joint somewhere along each leg. First, the actuator screws for each leg-chain are determined. Then Grassmann–Cayley algebra and the associated superbracket decomposition are used to find the condition for which the Jacobian (or rigidity matrix) containing these screws is rank-deficient. These tools are advantageous since they facilitate manipulation of coordinate-free expressions representing geometric entities, thus enabling the geometrical interpretation of the singularity condition to be obtained more easily. Using these tools, the singularity condition of (at least) 144 combinations of this class is delineated to be the intersection of four planes at one point. These four planes are defined by the locations of the spherical joints and the directions of the zero-pitch screws. Index Terms—Grassmann–Cayley algebra, singularity, three-legged robots.
I. INTRODUCTION
During the last two decades, many researchers have extensively investigated singularities of parallel robots. Unlike serial robots that lose degrees of freedom (DOFs) in singular configurations, parallel robots might also gain DOFs even though their actuators are locked. Therefore, thorough knowledge of these unstable poses is essential for improving robot design and determining robot path planning.
One of the principal methods used for finding the singularities of parallel robots is based on calculation of the Jacobian determinant degeneracy. Gosselin and Angeles [1] classified the singularities of closed-loop mechanisms by considering two
Jacobians that define the relationship between input and output velocities. St-Onge and Gosselin [2] reduced the arithmetical operations required to define the Jacobian determinant for the Gough–Stewart platform (GSP), and thus enabled numerical calculation of the obtained polynomial in real-time. Zlatanov et al. [3]–[5] expanded the classification proposed by Gosselin and Angeles to define six types of singularity that are derived using equations containing not only the input and output velocities but also explicit passive joint velocities.
Another important tool that has served in the analysis of singularities is the scr ew theory, first expounded in Ball’s 1900treatise [6] and developed for robotic applications by Hunt [7]–[9] and Sugimoto et al. [10]. Several studies have applied this theory to find singularities of parallel robots, for example, [11]–[14]. Special attention was paid to cases in which the actuators are linear and the representing screws are zero-pitched. In these cases, the singular configurations were solved by using line geometry, looking for possible actuator-line dependencies [15]–[17]. Other approaches taken to classify singularities of closed-loop mechanisms can be found in [18]–[22].
In this paper, we analyze the singularities of a broad class of three-legged robots, having a spherical joint at any point in each individual leg-chain. We focus only on forward kinematics singularities. First, we find the screws associated with the actuators of each chain. Since every chain contains a spherical joint, and since the actuator screws are reciprocal to the joint screws, they are zero-pitch screws passing through the spherical joints. Then we use Grassmann–Cayley algebra and related developments to get an algebraic equation which originates from the rigidity matrix containing the governing lines of the robot. The direct and efficient retrieval of the geometric meaning of the singular configurations is one of the main advantages of the method presented here.
While the previous study [53] analyzed only seven architectures of GSP, each having at least three pairs of concurrent joints, this paper expands the singularity analysis to a considerably broader class of robots that have three legs with a spherical joints somewhere along the legs. Using the reduced determinant and Grassmann–Cayley operators we obtain one single generic condition for which these
robots are singular and provide in a simple manner the geometric meaning of this condition.
The structure of this paper is as follows. Section II describes in detail the kinematic architecture of the class of parallel robots under consideration. Section III contains a brief background on screws and outlines the nature of the actuator screws, which are zero-pitch screws acting on the centers of the spherical joints. Section IV contains an introduction to Grassmann–Cayley algebra which is the basic tool used for finding the singularity condition. This section also includes the rigidity matrix (or Jacobian) decomposition into coordinate-free expressions. In Section V a general example of this approach is given. Finally, Section VI compares the results obtained using the present method with results obtained by other techniques.
II. KINEMATIC ARCHITECTURE This paper deals with 6-DOF parallel robots that have connectivity six between the base and the moving platform. Shoham and Roth [54] provided a survey of the possible structures that yield 6-DOF based on the mobility formula of Grübler and Kutzbach. They searched for all the possibilities that satisfy this formula with respect to the number of joints connected to any of the links. The GSP and three-legged robots are a subset of the structures with 6-DOF listed by Shoham and Roth. A similar enumeration was provided also by Podhorodeski and Pittens [55], who found a class of three-legged symmetric parallel robots that have spherical joints at the platform and revolute joints in each leg to be potentially advantageous over other structures. As discussed above, most of the reports in the literature limit their analysis to structures with spherical joints located on the moving platform and revolute or prismatic joints as actuated or passive additional joints. Exceptions are the family of 14 robots proposed by Simaan and Shoham [28] which contain spherical-revolute dyads connected to the platform, and some structures mentioned below which have revolute or prismatic joints on the platform. In this classification, we include five types of joints and more optional positions for the spherical joints.
We deal with robots that have three chains connected to the moving platform, each actuated by two 1-DOF joints or one 2-DOF joint. These chains are not
necessarily equal, but all have mobility and connectivity six between the base and the platform. Besides the spherical joint (S), the joints taken into consideration are prismatic (P), revolute (R), helical (H), cylindrical (C), and universal (U), the first three being 1-DOF joints and the last two being 2-DOF joints. All the possibilities are shown in Tables I and II. The list contains only the robots that have equal chains, totaling 144 different structures, but robots with any possible combination of chains can also be considered as membersof this class. The total number of combinations, , is larger than 500 000, calculated as follows:
III. GOVERNING LINES
This section deals with the screws that determine the platform motion. Since the robots under consideration have three serial chains, the direction of each actuator screw can be determined by its reciprocity to the other joint screws in the chain. The passive spherical joint in each chain forces the actuator screws to have zero-pitch (lines) and to pass through its center. Therefore, three flat pencils are created having their centers located at the spherical joints.
Following a brief introduction to the screw theory that is extensively treated in [7], [73]–[75]; we address the reciprocal screw systems of all the joints listed in Section II.
The geometric result for the singularity of the aforementioned class of robots is now compared with the results obtained by other approaches in the literature. First, we compare the singularity condition described above for the 6-3 GSP platform with the results reported for the line geometry method.
The line geometry method distinguishes among several types of singularities, according to the relative geometric condition of he lines along the prismatic actuators [81]. We show that all these singularities are particular cases of the condition provided by (17c), which is valid for the three-legged robots under consideration as well as for the 6-3 GSP platform. The singular configurations of this structure according to line geometry analysis include five types: 3C, 4B, 4D, 5A, and 5B [17], [36].
IV. SINGULARITY ANALYSIS
This section determines the singularity condition for the class of robots defined in Section II. The first part consists of finding the direction of the actuator lines of action, based on the explanation introduced in Section III. The lines pass through the spherical joint center while their directions depend on the distribution and position of the joints. The second part includes application of the approach using Grassmann–Cayley algebra presented in Section IV for defining singularity when considering six lines attaching two platforms. Since every pair of lines meet at one point (the spherical joint), the solution for all the cases is symbolically equal, regardless of the points’ location in the leg or the symmetry of the legs. We exemplify the solution using three robots from the literature.
A.Direction of the Actuator Screws
The first example is the 3-PRPS robot as proposed by Behi [61] [see Fig. 3(a)]. For each leg the actuated screws lie on theplane defined by the spherical joint center and the revolute joint axis. In particular,the actuator screw is perpendicular to the axis of , and the actuator screw is perpendicular to the axis of , these directions being depicted in Fig. 3(b).
The second example is the3-USR robot as proposed by Simaan et al.[66][see Fig.4(a)].Every leg has the actuator screws lying on the plane passing through the spherical joint center and containing the revolute joint axis. The actuator screw passes through the spherical joint center and intersects the revolute joint axis and. Similarly, the actuator screw passes through the spherical joint center and intersects the revolute joint axis and , these directions being depicted in Fig. 4(b).
The third example is the 3-PPSP robot built by Byun and Cho [65] [see Fig. 5(a)]. For every leg the actuated screws lie on the plane passing through the spherical joint center and being normal to the prismatic joint axis.The actuator screw is perpendicular to the axis of , and the actuator screw is perpendicular to the axis of , these directions being depicted in Fig. 5(b).
Fig. 3. (a) The 3-PRPS robot as proposed by Behi [61]. (b) Planes and actuator screws.
screws of the 3-USR robot.
Fig. 5. (a) 3-PPSP robot as proposed by Byun and Cho [65]. (b) Planes and actuator screws.
B. Singularity Condition
The Jacobian (or superbracket) of a robot is decomposed into ordinary bracket monomials using McMillan’s decomposition, namely (16). As explained in Section III-B, all the robots of the class considered in this paper have two zero-pitch actuator screws passing through the spherical joint of each chain. Topologically, this description is equivalent to the lines of the 6-3 GSP (or in [53]), which has three pairs of lines, each passing through a double spherical joint on the platform (see Fig. 6). This means that each pair of lines share one common point (in Fig. 6 these points are , , and ). Therefore for the class of robots considered in this paper, we can use the same notation of points as for the 6-3 GSP. The six lines associated with each robot pass through the pairs of points,and , in the same way as in Fig. 6. Due to the common points of the pairs of lines ,and ,denoted , and respectively, many of the monomials of (16) vanish due to (4).
Fig. 6. 6-3 GSP.
V. CONCLUSION
This paper presents singularity analysis for a broad family of parallel robots. These are 6-DOF three-legged robots which have one spherical joint in each leg-chain. Since the spherical joints entail the actuator screws to be pure forces acting on their centers, their location along the chain is not important. The family includes 144 mechanisms incorporating diverse types of joints that each has a different joint arrangement along the chains. Several proposed and built robots described in the literature appear in this list. A larger number of robots are relevant to this analysis if combinations of different legs are considered. The singularity analysis was performed by first finding the lines of action of the actuators using the reciprocity of screws. Then, with the aid of combinatorial methods and Grassmann–Cayley operators, the rigidity matrix determinant was obtained in a manipulable coordinate-free form that could be translated later into a simple geometric condition. The geometric condition consists of four planes, defined by the actuator lines and the position of the spherical joints, which intersect at least one point. This singularity condition is valid for all the robots in the family under consideration.A comparison of this singularity result with results obtained by other techniques demonstrated that all the previously described singularity conditions are actually special cases of the geometrical condition of four planes intersecting at a point, a condition that was obtained straightforwardly by the method suggested here
机器人外文翻译
英文原文出自《Advanced Technology Libraries》2008年第5期 Robot Robot is a type of mechantronics equipment which synthesizes the last research achievement of engine and precision engine, micro-electronics and computer, automation control and drive, sensor and message dispose and artificial intelligence and so on. With the development of economic and the demand for automation control, robot technology is developed quickly and all types of the robots products are come into being. The practicality use of robot products not only solves the problems which are difficult to operate for human being, but also advances the industrial automation program. At present, the research and development of robot involves several kinds of technology and the robot system configuration is so complex that the cost at large is high which to a certain extent limit the robot abroad use. To development economic practicality and high reliability robot system will be value to robot social application and economy development. With the rapid progress with the control economy and expanding of the modern cities, the let of sewage is increasing quickly: With the development of modern technology and the enhancement of consciousness about environment reserve, more and more people realized the importance and urgent of sewage disposal. Active bacteria method is an effective technique for sewage disposal，The lacunaris plastic is an effective basement for active bacteria adhesion for sewage disposal. The abundance requirement for lacunaris plastic makes it is a consequent for the plastic producing with automation and high productivity. Therefore, it is very necessary to design a manipulator that can automatically fulfill the plastic holding. With the analysis of the problems in the design of the plastic holding manipulator and synthesizing the robot research and development condition in recent years, a economic scheme is concluded on the basis of the analysis of mechanical configuration, transform system, drive device and control system and guided by the idea of the characteristic and complex of mechanical configuration,
人形机器人论文中英文资料对照外文翻译
中英文资料对照外文翻译 最小化传感级别不确定性联合策略的机械手控制 摘要：人形机器人的应用应该要求机器人的行为和举止表现得象人。下面的决定和控制自己在很大程度上的不确定性并存在于获取信息感觉器官的非结构化动态环境中的软件计算方法人一样能想得到。在机器人领域，关键问题之一是在感官数据中提取有用的知识，然后对信息以及感觉的不确定性划分为各个层次。本文提出了一种基于广义融合杂交分类（人工神经网络的力量，论坛渔业局）已制定和申请验证的生成合成数据观测模型，以及从实际硬件机器人。选择这个融合，主要的目标是根据内部（联合传感器）和外部（ Vision 摄像头）感觉信息最大限度地减少不确定性机器人操纵的任务。目前已被广泛有效的一种方法论就是研究专门配置5个自由度的实验室机器人和模型模拟视觉控制的机械手。在最近调查的主要不确定性的处理方法包括加权参数选择（几何融合），并指出经过训练在标准操纵机器人控制器的设计的神经网络是无法使用的。这些方法在混合配置，大大减少了更快和更精确不同级别的机械手控制的不确定性，这中方法已经通过了严格的模拟仿真和试验。 关键词：传感器融合，频分双工，游离脂肪酸，人工神经网络，软计算，机械手，可重复性，准确性，协方差矩阵，不确定性，不确定性椭球。 1 引言 各种各样的机器人的应用（工业，军事，科学，医药，社会福利，家庭和娱乐）已涌现了越来越多产品，它们操作范围大并呢那个在非结构化环境中运行 [ 3,12,15]。在大多数情况下，如何认识环境正在发生变化且每个瞬间最优控制机器人的动作是至关重要的。移动机器人也基本上都有定位和操作非常大的非结构化的动态环境和处理重大的不确定性的能力[ 1,9,19 ]。每当机器人操作在随意性自然环境时，在给定的工作将做完的条件下总是存在着某种程
工业机器人外文翻译
附录外文文献 原文 Industrial Robots Definition “A robot is a reprogrammable,multifunctional machine designed to manipulate materials,parts,tools,or specialized devices,through variable programmed motions for the performance of a variety of tasks.” --Robotics Industries Association “A robot is an automatic device that performs functions normally ascribrd to humans or a machine in orm of a human.” --Websters Dictionary The industrial robot is used in the manufacturing environment to increase productivity . It can be used to do routine and tedious assembly line jobs , or it can perform jobs that might be hazardous to do routine and tedious assembly line jobs , or it can perform jobs that might be hazardous to the human worker . For example , one of the first industrial robots was used to replace the nuclear fuel rods in nuclear power plants . A human doing this job might be exposed to harmful amounts of radiation . The industrial robot can also operate on the assembly line , putting together small components , such as placing electronic components on a printed circuit board . Thus , the human worker can be relieved of the routine operation of this tedious task . Robots can also be programmed to defuse bombs , to serve the handicapped , and to perform functions in numerous applications in our society . The robot can be thought of as a machine that will move an end-of-arm tool , sensor , and gripper to a preprogrammed location . When the robot arrives at this location , it will perform some sort of task . This task could be welding , sealing , machine loading , machine unloading , or a host of assembly jobs . Generally , this work can be accomplished without the involvement of a human being , except for programming and for turning the system on and off . The basic terminology of robotic systems is introduced in the following :
机器人结构论文中英文对照资料外文翻译文献
中英文对照资料外文翻译文献 FEM Optimization for Robot Structure Abstract In optimal design for robot structures, design models need to he modified and computed repeatedly. Because modifying usually can not automatically be run, it consumes a lot of time. This paper gives a method that uses APDL language of ANSYS 5.5 software to generate an optimal control program, which mike optimal procedure run automatically and optimal efficiency be improved. 1）Introduction Industrial robot is a kind of machine, which is controlled by computers. Because efficiency and maneuverability are higher than traditional machines, industrial robot is used extensively in industry. For the sake of efficiency and maneuverability, reducing mass and increasing stiffness is more important than traditional machines, in structure design of industrial robot. A lot of methods are used in optimization design of structure. Finite element method is a much effective method. In general, modeling and modifying are manual, which is feasible when model is simple. When model is complicated, optimization time is longer. In the longer optimization time, calculation time is usually very little, a majority of time is used for modeling and modifying. It is key of improving efficiency of structure optimization how to reduce modeling and modifying time. APDL language is an interactive development tool, which is based on ANSYS and is offered to program users. APDL language has typical function of some large computer languages. For example, parameter definition similar to constant and variable definition, branch and loop control, and macro call similar to function and subroutine call, etc. Besides these, it possesses powerful capability of mathematical calculation. The capability of mathematical calculation includes arithmetic calculation, comparison, rounding, and trigonometric function, exponential function and hyperbola function of standard FORTRAN language, etc. By means of APDL language, the data can be read and then calculated, which is in database of ANSYS program, and running process of ANSYS program can be controlled.
管道机器人外文翻译
一款使用离合器连接类型的内窥管道机器人 摘要-这篇论文展示了一款使用离合器的新型内窥管道机器人，用于直径小于或等于100mmde 管道内窥。这款机器人拥有三条驱动轴，且每条驱动轴各有一个离合器，离合器的设计依据平行联动原理。内窥管道机器人牢固的模型机构已经过驱动，原型机也被制作出来。机器人系统已经过一系列的仿真软件模拟和实验验证。 1.简介 管内机器人经过漫长的发展，根据运动模型可分为几种基本类型，比如轮驱动、蠕动、自动足、螺旋驱动、爬行、PIG和惰性运行等类型。在这些类型之中，轮式驱动应用最为广泛。在过去的十年时间间，机器人各式各样的驱动类型研究呈现井喷式增长。不同的驱动类型的机器人一般会有三个驱动轴，依靠单独控制各轴的速度，可以让机器人实现通过关节或者Ｔ型管道。而且这种类型机器人与轮式驱动、螺旋驱动和PIG等类型比较起来会有较大的可折叠区域，比较节省空间。 近来，随着小型化管道机器人市场的扩大，对直径小于100mm的管道机器人的关注同时愈来愈热。因为室内管道的清洁程度会直接影响到人的健康，因此，对室内管道的清洁与监测变得愈加重要，同时直径小于100mm的机器人也将主要用于室内管道清洁。机械装置使用的是平行连杆机构，有助于实现装置
减速功能。减速器与其他使用两个底板的典型减速器不同，第二部分将会详细介绍机器人系统的特征。第三部分将会讲解机构的运动学分析。机构的有效性将会通过软件仿真与实验验证，这些会在第四部分展示出来。最后，同时也是至关重要的是总结。 2.机器人特征 A机器人硬件设备及系统 如例1所示，机器人系统包括控制盒与机器人装备。根据模块化设置，控制盒与机器人硬件设备室分开的。 机器人硬件设备包含主体，三条链轮和如例2显示的三个离合轮部分。机器人长80mm,外扩至100mm。机械联动装置可确保制动功能的实现，这是因为装置有效避免了电磁制动器的缺点，比如滑移、电力不足以及规格限制。 例1.装备有机械离合装置的管道检测机器人系统 机器人装置可实现两种不同的操作模式：驱动模式与制动模式。驱动模式下的机器人会运行，制动模式会使机器人停止运行并且
外文翻译：机器人本科生外文翻译资料
外文翻译资料原文 学院 专业班级 学生姓名 指导教师
Robot Darrick Addison (dtadd95@https://www.wendangku.net/doc/80580328.html,), Senior Software Engineer/Consultant, ASC Technologies Inc. 01 Sep 2001 "A re-programmable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks." -- From the Robot Institute of America, 1979 Darrick Addison, an experienced developer in databases, networks, user interfaces, and embedded systems, introduces the field of robotics and the issues surrounding robotic systems. He covers mechanical design, sensory systems, electronic control, and software. He also discusses microcontroller systems, including serial and memory-mapped interfacing, and talks about some of the available open source software options. The word "robot" originates from the Czech word for forced labor, or serf. It was introduced by playwright Karel Capek, whose fictional robotic inventions were much like Dr. Frankenstein's monster -- creatures created by chemical and biological, rather than mechanical, methods. But the current mechanical robots of popular culture are not much different from these fictional biological creations. Basically a robots consists of: ? A mechanical device, such as a wheeled platform, arm, or other construction, capable of interacting with its environment ?Sensors on or around the device that are able to sense the environment and give useful feedback to the device ?Systems that process sensory input in the context of the device's current situation and instruct the device to perform actions in response to the situation In the manufacturing field, robot development has focused on engineering robotic arms that perform manufacturing processes. In the space industry, robotics focuses on highly specialized, one-of-kind planetary rovers. Unlike a highly automated manufacturing plant, a planetary rover operating on the dark side of the moon -- without radio communication -- might run into unexpected situations. At a minimum, a planetary rover must have some source of sensory input, some way of interpreting that input, and a way of modifying its actions to respond to a changing world. Furthermore, the need to sense and adapt to a partially unknown environment requires intelligence (in other words, artificial intelligence).
智能避障机器人设计外文翻译
INTELLIGENT VEHICLE Our society is awash in “machine intelligence” of various kinds.Over the last century, we have witnessed more and more of the “drudgery” of daily living being replaced by devices such as washing machines. One remaining area of both drudgery and danger, however, is the daily act ofdriving automobiles 1.2 million people were killed in traffic crashes in 2002, which was 2.1% of all globaldeaths and the 11th ranked cause of death . If this trend continues, an estimated 8.5 million people will be dying every year in road crashes by 2020. In fact, the U.S. Department of Transportation has estimated the overall societal cost of road crashes annually in the United States at greater than $230 billion. When hundreds or thousands of vehicles are sharing the same roads at the same time, leading to the all too familiar experience of congested traffic. Traffic congestion undermines our quality of life in the same way air pollution undermines public health.Around 1990, road transportation professionals began to apply them to traffic and road management. Thus was born the intelligent transportation system(ITS). Starting in the late 1990s, ITS systems were developed and deployed. In developed countries, travelers today have access to signifi-cant amounts of information about travel conditions, whether they are driving their own vehicle or riding on public transit systems. As the world energy crisis, and the war and the energy
搬运机器人外文翻译
外文翻译 专业机械电子工程 学生姓名张华 班级 B机电092 学号 05 指导教师袁健
外文资料名称：Research，design and experiment of end effector for wafer transfer robot 外文资料出处：Industrail Robot：An International Journal 附件： 1.外文资料翻译译文 2.外文原文
晶片传送机器人末端效应器研究、设计和实验 刘延杰、徐梦、曹玉梅 张华译 摘要：目的——晶片传送机器人扮演一个重要角色IC制造行业并且末端执行器是一个重要的组成部分的机器人。本文的目的是使晶片传送机器人通过研究其末端执行器提高传输效率,同时减少晶片变形。 设计/方法/方法——有限元方法分析了晶片变形。对于在真空晶片传送机器人工作,首先,作者运用来自壁虎的超细纤维阵列的设计灵感研究机器人的末端执行器,和现在之间方程机器人的交通加速度和参数的超细纤维数组。基于这些研究,一种微阵列凹凸设计和应用到一个结构优化的末端执行器。对于晶片传送机器人工作在大气环境中,作者分析了不同因素的影响晶片变形。在吸收面积的压力分布的计算公式,提出了最大传输加速度。最后, 根据这些研究得到了一个新的种末端执行器设计大气机器人。 结果——实验结果表明, 通过本文研究应用晶片传送机器人的转换效率已经得到显着提高。并且晶片变形吸收力得到控制。 实际意义——通过实验可以看出,通过本文的研究,可以用来提高机器人传输能力, 在生产环境中减少晶片变形。还为进一步改进和研究末端执行器打下坚实的基础,。 创意/价值——这是第一次应用研究由壁虎启发了的超细纤维阵列真空晶片传送机器人。本文还通过有限元方法仔细分析不同因素在晶片变形的影响。关键词：晶片传送机器人末端执行器、超细纤维数组、晶片 1.介绍
人工智能专业外文翻译-机器人
译文资料： 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。另一方面它也是生产力发展的需求的必然结果，也是人类自身发展的必然结果，那么随着人类的发展，人们在不断探讨自然过程中，在认识和改造自然过程中，需要能够解放人的一种奴隶。那么这种奴隶就是代替人们去能够从事复杂和繁重的体力劳动，实现人们对不可达世界的认识和改造，这也是人们在科技发展过程中的一个客观需要。 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，这个力操作力的大小，这个工件存在不存在，焊的好与坏，它并不知道，那么实际上这种从第一代机器人，也就存在它这种缺陷，因此，在20世纪70年代后期，人们开始研究第二代机器人，叫带感觉的机器人，这种带感觉的机器人是类似人在某种功能的感觉，比如说力觉、触觉、滑觉、视觉、听觉和人进行相类比，有了各种各样的感觉，比方说在机器人抓一个物体的时候，它实际上力的大小能感觉出来，它能够通过视觉，能够去感受和识别它的形状、大小、颜色。抓一个鸡蛋，它能通过一个触觉，知道它的力的大小和滑动的情况。第三代机器人，也是我们机器人学中一个理想的所追求的最高级的阶段，叫智能机器人，那么只要告诉它做什么，不用告诉它怎么去做，它就能完成运动，感知思维和人机通讯的这种功能和机能，那么这个目前的发展还是相对的只是在局部有这种智能的概念和含义，但真正完整意义的这种智能机器人实际上并没有存在，而只是随着我们不断的科学技术的发展，智能的概念越来越丰富，它内涵越来越宽。 下面我简单介绍一下我国机器人发展的基本概况。由于我们国家存在很多其
管道机器人(英文)
A SIMPLE ARCHITECTURE FOR IN-PIPE INSPECTION ROBOTS Mihaita HORODINCA, Ioan DOROFTEI, Emmanuel MIGNON, André PREUMONT Active Structures Laboratory UNIVERSITE LIBRE DE BRUXELLES Av. F. D. Roosevelt 50, cp 165/42, Brussels, Belgium Phone: (32)2-6504663 Fax: (32)2-6504660 e-mail: andre.preumont@ulb.ac.be Abstract: The paper presents an original robot architecture for in-pipe inspection. The robot consists of two parts articulated with a universal joint. One part is guided along the pipe by a set of wheels moving parallel to the axis of the pipe, while the other part is forced to follow an helical motion thanks to tilted wheels rotating about the axis of the pipe. A single motor is placed between the two bodies to produce the motion. All the wheels are mounted on a suspension to accommodate for changing tube diameter and curves in the pipe. The robot is autonomous and carries its own batteries and radio link. Four different prototypes have been constructed for pipe diameters of 170, 70 and 40 mm, respectively. For smaller diameters, the batteries and the radio receiver may be placed on an additional body attached to the others. The autonomy of the prototypes is about 2 hours. This architecture is very simple and the rotary motion can be exploited to carry out scrubbing or inspection tasks. Keywords: Autonomous mobile robot, In-pipe inspection, Helical motion Introduction Pipe inspection robots have been studied for a long time, and many original locomotion concepts have been proposed to solve the numerous technical difficulties associated with the change in pipe diameter, curves and energy supply. Although an exhaustive review of the literature is impossible due to the limited space available, a few broad categories can be identified: (i) For small size, many projects follow the earthworm principle consisting of a central part moving axially while the two end parts are provided with blocking devices connected temporarily to the pipe. Pneumatic versions of this concept have been proposed (e.g. [1]), but they require an umbilical for power. For smaller diameter (10 mm or less), a piezoelectric actuation has been considered, according to the inchworm principle, or according to an inertial locomotion driven by a saw-tooth wave voltage [2], or using vibrating fins with differential friction coefficients [3]. (ii) For medium size piping, classical electromechanical systems have been proposed with various architectures involving wheels and tracks, with more or less complicated kinematical structures, depending on the diameter adaptability and turning capability (e.g. [4,5]). (iii) For large pipes, walking tube crawlers have also been proposed [6].
外文翻译-多自由度步行机器人
多自由度步行机器人 摘要在现实生活中设计一款不仅可以倒下而且还可以站起来的机器人灵活智能机器人很重要。本文提出了一种两臂两足机器人,即一个模仿机器人,它可以步行、滚动和站起来。该机器人由一个头,两个胳膊和两条腿组成。基于远程控制,设计了双足机器人的控制系统,解决了机器人大脑内的机构无法与无线电联系的问题。这种远程控制使机器人具有强大的计算头脑和有多个关节轻盈的身体。该机器人能够保持平衡并长期使用跟踪视觉,通过一组垂直传感器检测是否跌倒,并通过两个手臂和两条腿履行起立动作。用实际例子对所开发的系统和实验结果进行了描述。 1 引言随着人类儿童的娱乐,对于设计的双足运动的机器人具有有站起来动作的能力是必不可少。 为了建立一个可以实现两足自动步行的机器人,设计中感知是站立还是否躺着的传感器必不可少。两足步行机器人它主要集中在动态步行,作为一种先进的控制问题来对待它。然而,在现实世界中把注意力集中在智能反应,更重要的是创想,而不是一个不会倒下的机器人,是一个倒下来可以站起来的机器人。 为了建立一个既能倒下又能站起来的机器人,机器人需要传感系统就要知道它是否跌倒或没有跌倒。虽然视觉是一个机器人最重要的遥感功能,但由于视觉系统规模和实力的限制,建立一个强大的视觉系统在机器人自己的身体上是困难的。如果我们想进一步要求动态反应和智能推理经验的基础上基于视觉的机器人行为研究,那么机器人机构要轻巧足以够迅速作出迅速反应,并有许多自由度为了显示驱动各种智能行为。至于有腿机器人,只有一个以视觉为基础的
小小的研究。面临的困难是在基于视觉有腿机器人实验研究上由硬件的显示所限制。在有限的硬件基础上是很难继续发展先进的视觉软件。为了解决这些问题和推进基于视觉的行为研究,可以通过建立远程脑的办法。身体和大脑相连的无线链路使用无线照相机和远程控制机器人,因为机体并不需要电脑板,所以它变得更加容易建立一个有许多自由度驱动的轻盈机身。 在这项研究中,我们制定了一个使用远程脑机器人的环境并且使它执行平衡的视觉和起立的手扶两足机器人,通过胳膊和腿的合作,该系统和实验结果说明如下。图 1 远程脑系统的硬件配置图 2 两组机器人的身体结构 2 远程脑系统 远程控制机器人不使用自己大脑内的机构。它留大脑在控制系统中并且与它用无线电联系。这使我们能够建立一个自由的身体和沉重大脑的机器人。身体和大脑的定义软件和硬件之间连接的接口。身体是为了适应每个研究项目和任务而设计的。这使我们提前进行研究各种真实机器人系统。 一个主要利用远程脑机器人是基于超级并行计算机上有一个大型及重型颅脑。虽然硬件技术已经先进了并拥有生产功能强大的紧凑型视觉系统的规模,但是硬件仍然很大。摄像头和视觉处理器的无线连接已经成为一种研究工具。远程脑的做法使我们在基于视觉机器人技术各种实验问题的研究上取得进展。 另一个远程脑的做法的优点是机器人机体轻巧。这开辟了与有腿移动机器人合作的可能性。至于动物,一个机器人有 4 个可以行走的四肢。我们的重点是基于视觉的适应行为的4肢机器人、机械动物,在外地进行试验还没有太多的研究。 大脑是提出的在母体环境中通过接代遗传。大脑和母体可以分享新设计
智能机器人外文翻译
Robot Robot is a type of mechantronics equipment which synthesizes the last research achievement of engine and precision engine, micro-electronics and computer, automation control and drive, sensor and message dispose and artificial intelligence and so on. With the development of economic and the demand for automation control, robot technology is developed quickly and all types of the robots products are come into being. The practicality use of robot products not only solves the problems which are difficult to operate for human being, but also advances the industrial automation program. At present, the research and development of robot involves several kinds of technology and the robot system configuration is so complex that the cost at large is high which to a certain extent limit the robot abroad use. To development economic practicality and high reliability robot system will be value to robot social application and economy development. With the rapid progress with the control economy and expanding of the modern cities, the let of sewage is increasing quickly: With the development of modern technology and the enhancement of consciousness about environment reserve, more and more people realized the importance and urgent of sewage disposal. Active bacteria method is an effective technique for sewage disposal，The lacunaris plastic is an effective basement for active bacteria adhesion for sewage disposal. The abundance requirement for lacunaris plastic makes it is a consequent for the plastic producing with automation and high productivity. Therefore, it is very necessary to design a manipulator that can automatically fulfill the plastic holding. With the analysis of the problems in the design of the plastic holding manipulator and synthesizing the robot research and development condition in recent years, a economic scheme is concluded on the basis of the analysis of mechanical configuration, transform system, drive device and control system and guided by the idea of the characteristic and complex of mechanical configuration, electronic, software and hardware. In this article, the mechanical configuration combines the character of direction coordinate and the arthrosis coordinate which can improve the stability and operation flexibility of the system. The main function of the transmission mechanism is to transmit power to implement department and complete the necessary movement. In this transmission structure, the screw transmission mechanism transmits the rotary motion into linear motion. Worm gear can give vary transmission