外文翻譯---一種簡易足式移動機器人

1、<p><b>　　英文資料</b></p><p>　　One kind of simple foot -like migration robot</p><p>　　Robot is a type of mechantronics equipment which synthesizes the last research achievement of e

2、ngine 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 c

3、ontrol, 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 dif</p><p>　　With the ana

4、lysis 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 mechani

5、cal 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 mechanica

6、l configuration combines the character of direct</p><p>　　The walk organization because it is opposite to the ordinary wheeled organization has many unique superiority, obtains the widespread application in

7、more special domains. At present unceasingly appears on he market by the new multi- groups walk organization, their mostly intellectualization degree higher, the organization and the control is complex.</p><p&

8、gt;　　The people frequently must draw support to the walk organization research to animal's careful observation and the movement mechanism analysis. We note, insect when smooth unimpeded terrain surface barrel, are ma

9、ny by in turn triangle gait movement, namely six feet will divide into two groups, the bodily later around foot and the opposite side center fully respectively took a group, will form a stable triangle strut. Two groups

10、of legs in turn swinging with strut ,realization insect's quick movem</p><p>　　1 organization analysis</p><p>　　Designing starts with a need, real or imagined. Existing apparatus may need im

11、provements in durability, efficiently, weight, speed, or cost. New apparatus may be needed to perform a function previously done by men, such as computation, assembly, or servicing. With the objective wholly or partly de

12、fined, the next step in design is the conception of mechanisms and their arrangements that will perform the needed functions. For this, freehand sketching is of great value, not only as a record of one’</p><p&

13、gt;　　When the general shape and a few dimensions of the several components become apparent, analysis can begin in earnest. The analysis will have as its objective satisfactory or superior performance, plus safety and dur

14、ability with minimum weight, and a competitive cost. Optimum proportions and dimensions will be sought for each critically loaded section, together with a balance between the strength of the several components. Materials

15、 and their treatment will be chosen. These important objectives c</p><p>　　Finally, a design based upon function and reliability will be completed, and a prototype may be built. If its tests are satisfactory

16、, and if the device is to produced in quantity, the initial design will undergo certain modifications that enable it to be manufactured in quantity at a lower cost. During subsequent years of manufacture and service, the

17、 design is likely to undergo changes as new ideas are conceived or as further analysis based upon tests and experience indicate alterations .Sales a</p><p>　　1.1 overall constructions design </p><

18、p>　　Overall constructions design shows is six feet shifting mechanism overall construction diagram. This organization structure simpler, because the torso are partial and six feet, the tension bar and the direct curre

19、nt electric motor compositions. If the race 1 and 3 connects by tension bar a; The foot 4 and the foot 6 by the tension bar f connection, they may circle on the torso respective axle center to swing the certain angle in

20、the horizontal plane; The foot 2 and the foot 5 also by the tension</p><p>　　1.2 gaits designs</p><p>　　The walk organization walks the way to divide into the static state to walk dynamically wi

21、th walks two kinds. The static state walks the way is refers to the walk organization while to walk in the process throughout to have three above the foot; The tendency walks the way is refers to except for this other to

22、 walk the way. More accurate saying ,the static state walks is refers to the walk organization in to walk in the process, its center of gravity always is in the stable strut plane. The strut</p><p>　　Theoret

23、ically says, six full organizations may supply the choice the gait to be more, but also should follow the general criterion: (1)chooses the gait to be supposed to conform to the animal to walk the custom. The experience

24、and the theoretical analysis indicated that, the animal walks the way is in the nature most reasonable, these walk the way not only to be able to cause the walk organization to be balanced, moreover can cause the energy

25、decrement which consumes to the lowest degree. (2) ch</p><p>　　1.2.1 advances walks the gait</p><p>　　Time six full organizations advances walks the gait like chart1-1 to show. After six full or

26、ganizations start the movement, the first step, the foot 2 and the foot 5 swings an angle, causes left side of the body to lift, the foot 1, the foot 3 and the foot 5 is hanging, thefoot 2, the foot 4 and foot 6, and for

27、m a triangle to support the region. If walks in the process, this organization center of gravity throughout is located in this triangle, then six full organizations are at the steady state</p><p>　　Chart1-1

28、 six full organizations advances walk the gait like chart</p><p>　　The chart has simulated this six full organizations advance continual motion gait from the position. May see, this organization walks the di

29、rection certainly is not a straight line, if first steps the right leg then organization finally to left displacement. Moreover, afte rthe organization steps out first step, the entire torso and the original position can

30、 form an included angle psi, the organization forward travel distance is m. After steps out second step, the organization posture returns to</p><p>　　1.2.2 curves walks the gait</p><p>　　The cha

31、rt is six full organizations counterclockwise time walks the gait like chart1-2 to show. After six full organizations start the movement, the first step ,the foot 2 and the foot 5 swings an angle, causes left side of the

32、 body to lift, the foot 1, the foot 3 and the foot 5 is hanging, the foot 2, the foot 4 and foot 6, and form a triangle to support the region. The second step, wears the place the foot 4 and the foot 6relative bodies swi

33、ngs the certain angle to after, realizes the body rel</p><p>　　Contains 6 steps in the entire cycle, a cycle may realize the organization to rotate 2 alpha angles. </p><p>　　Chart1-2 six full o

34、rganizations counterclockwise time walks the gait like chart</p><p>　　1.3 stable analyses</p><p>　　Simply uses the steady constant angle evaluates when the walk organization the stability to be

35、bright. First carries on the following definition:</p><p>　　(1) supports the territory the polygon which is composed by between the constitution strut graph strut foot, these segments are called the strut te

36、rritory the strut boundary</p><p>　　(2) supports the boundary the steady constant angle theta to refer to the walk organization machine physique heart to have the plane with this boundary with the angle whic

37、h this boundary is vertical becomes. After before first, left, the right stable angle separately corresponds, is left, right side the vertical direction include dangle. Any strut territory steady constant angle is equal

38、to in this territory all struts boundary steady constant angle minimum value. The walk organization is whethe</p><p>　　2 control systems</p><p>　　When the insect walks, around the foot swings to

39、 front, about the middle two feet swings. The system should be able to examine various full position in active status any time, in this organization uses the model ship direct current servo electrical machinery. In the p

40、otentiometer sets in the model ship electrical machinery gear box the potentiometer rotation axis and the electrical machinery output shaft is coaxial.</p><p>　　When the system brings the power source, the w

41、ork, the monolithic integrated circuit according to the procedure  which establishes inadvance controls the electrical machinery revolving. When revolves, the potentiometer skids the end voltage also along with it c

42、hange, this voltage is introduced monolithic integrated circuit the A\D transformation unit, after the a/d conversion is a digital quantity. In the procedure may establish this digital quantity on lower limit to control

43、the electrical mach</p><p>　　Control system is the key and core part of the object holding manipulator system design which will direct effect the reliability and practicality of the robot system in the divis

44、ion of configuration and control function and also will effect or limit the development cost and cycle. With the demand of the PCL-839 card, the PC computer which has a. tight structure and is easy to be extended is used

45、 as the principal computer cell and takes the function of system initialization, data operation and di</p><p>　　3 experiments</p><p>　　States the principle and the design proposal according to f

46、ront ,manufactured six feet to move the robot the prototype, its basic organization size was: The torso adds on antenna total length 290mm;Extends 230mm; High 110mm. This prototype brings the power source, thesignal situ

47、ation which according to establishes the procedure and thesensor which accept independently to walk in advance. To the prototypical test result demonstrated six full robots may steadilywalk in the hard ground, voluntaril

48、y</p><p>　　The analysis of kinematics and dynamics for object holding manipulator is given in completing the design of mechanical structure and drive system. Kinematics analysis is the basis of path programm

49、ing and track control. The positive and reverse analysis of manipulator gives the relationship between manipulator space and drive space in position and speed. The relationship between manipulator’s tip position and arth

50、rosis angles is concluded by coordinate transform method. The geometry method is use</p><p>　　The start and stop frequency of the step motor is far lower than the maximum running frequency. In order to impro

51、ve the efficiency of the step motor, the increase and decrease of the speed is must considered when the step motor running in high speed and start or stop with great acceleration. The increase and decrease of the motor’s

52、 speed can be controlled by the pulse frequency sent to the step motor drive with a rational method. This can be implemented either by hardware or by software. A step </p><p>　　At last, the research content

53、and the achievement are sum up and the problems and shortages in main the content are also listed. The development and application of robot in the future is expected.</p><p><b>　　中文翻譯</b></p&g

54、t;<p>　　一種簡易足式移動機器人</p><p>　　機器人是典型的機電一體化裝置，它綜合運用了機械與精密機械、微電子與計算機、自動控制與驅動、傳感器與信息處理以及人工智能等多學科的最新研究成果，隨著經(jīng)濟的發(fā)展和各行各業(yè)對自動化程度要求的提高，機器人技術得到了迅速發(fā)展，出現(xiàn)了各種各樣的機器人產(chǎn)品。機器人產(chǎn)品的實用化，既解決了許多單靠人力難以解決的實際問題，又促進了工業(yè)自動化的進程。目前，由于機

55、器人的研制和開發(fā)涉及多方面的技術，系統(tǒng)結構復雜，開發(fā)和研制的成本普遍較高，在某種程度上限制了該項技術的廣泛應用，因此，研制經(jīng)濟型、實用化、高可靠性機器人系統(tǒng)具有廣泛的社會現(xiàn)實意義和經(jīng)濟價值。</p><p>　　綜述近幾年機器人技術研究和發(fā)展的狀況，結合塑料一次擠出成型機和塑料抓取機械手的研制過程中出現(xiàn)的問題。在充分發(fā)揮機、電、軟、硬件各自特點和優(yōu)勢互補的基礎上，對物料抓取機械手整體機械結構、傳動系統(tǒng)、驅動裝置和

56、控制系統(tǒng)進行了分析和設計，提出了一套經(jīng)濟型設計方案。采用直角坐標和關節(jié)坐標相結合的框架式機械結構形式，這種方式能夠提高系統(tǒng)的穩(wěn)定性和操作靈活性。傳動裝置的作用是將驅動元件的動力傳遞給機器人機械手相應的執(zhí)行機構，以實現(xiàn)各種必要的運動，傳動方式上采用結構緊湊、傳動比大的蝸輪蝸桿傳動和將旋轉運動轉換為直線運動的螺旋傳動。機械手驅動系統(tǒng)的設計往往受到作業(yè)環(huán)境條件的限制，同時也要考慮價格因素的影響以及能夠達到的技術水平。由于步進電機能夠直接接收數(shù)

57、字量，響應速度快而且工作可靠并無累積誤差，常用作數(shù)字控制系統(tǒng)驅動機構的動力元件，因此，在驅動裝置中采用由步進電機構成的開環(huán)控制方式，這種方式既能滿足控制精度的要求，又能達到經(jīng)濟性、實用化目的，在此基礎上，對步進電機的功率計一算及選型問題經(jīng)行了分析。</p><p>　　步行機構因其相對于普通輪式機構有許多獨特的優(yōu)越性，在較多的特殊領域得到廣泛的應用。目前不斷由新型多組步行機構面世，他們大多智能化程度較高，機構和控

58、制復雜。</p><p>　　人們對步行機構的研究常常要借助于對動物的仔細觀察和運動機理的分析。我們注意到，昆蟲在平坦無阻的地形表面快速行進時，多以交替的三角步態(tài)運動，即六足分為兩組，身體以后的前后足及對側的中足各作為一組，形成一個穩(wěn)定的三角支撐。兩組腿交替的擺動和支撐，實現(xiàn)昆蟲的快速運動。本文所提出的簡易足式機器人具有6個支撐足，模仿了昆蟲的行走步態(tài)，能夠在平地上前進、后退、左右轉彎，在遇到障礙時能自行避開。&

59、lt;/p><p><b>　　1機構設計分析</b></p><p>　　設計是從實際或者假想的需要開始的。對于現(xiàn)有的設備可能需要在耐用性，效率，重量，速度或者成本等方面做進一些改進工作；也可能要新的設備完成以前由人來做的工作，例如計算或者裝配。當目標完全或部分被確定以后，下一個設計步驟是對能夠完成所需要功能的機構及其布局進行總日設計。對于此項工作，徒手畫的草圖是很有價

60、值的，它不僅可以記錄下我們的想法，而且還有助于與別人進行討論，特別是和自己的大腦進行交流，從而促進創(chuàng)新想法的產(chǎn)生。</p><p>　　當一些零件的大致形狀和幾個尺寸被確定后，就可以開始認真的分析工作。分析工作的目的是要在重量最輕，成本最低的情況下，獲得令人滿意，即優(yōu)良的工作性能，并且還要安全耐用。對于每個關鍵承載界面，應該尋求最佳的比例和尺寸，同時要對這幾個零件的受力進行平衡。要對材料和處理方式進行選擇。只有根

61、據(jù)力學原理進行分析才能達到這些重要目的。這些分析包括根據(jù)靜力學原理分析反作用力和充分利用摩擦力，根據(jù)動力學原理分析慣性，加速度和能量；根據(jù)彈性力學和材料力學分析應力和變形；根據(jù)流體力學來分析潤滑和流體傳動。</p><p>　　最后，完成基于功能要求和可靠性所進行的設計，且要制作一臺樣機。如果試驗結果令人滿意，而且該裝置將要進行批量生產(chǎn)，就應該對最初提出的設計方案做一些修改，使其能以較低的成本進行批量生產(chǎn)。在以后

62、的制造和使用期內(nèi)，如果產(chǎn)生了新的想法或者根據(jù)試驗和經(jīng)驗所做的進一步分析結果表明，可以有更好的替代方案，則很可能對原設計方案進行修改。銷售吸引力，客戶的滿意程度和制造成本均與設計有關，而設計能力則與工程創(chuàng)新的實現(xiàn)是密切相關的。</p><p><b>　　1.1整體結構設計</b></p><p>　　六足移動機構的整體結構簡圖。該機構結構較為簡單，由于軀干部分及六足、

63、拉桿和直流電動機組成。如1和3由拉桿a連接；足4和足6由拉桿f連接，它們可繞軀干上各自的軸心在水平面內(nèi)擺動一定的角度；足2和足5也由拉桿連接，可繞軀干上的軸心在 垂直平面內(nèi)擺動一定的角度。這樣，足1和足3以及拉桿a和軀體形成一個平面平行四連桿機構；足4和足6以及拉桿f和軀體形成另一個平面平行四連桿機構。該六足移動機構使用三套電機驅動，其中一套電機驅動足1和足3，第二套電機驅動足4和足6，第三套電機驅動驅動足2和足5，相對以往的各種步行機

64、構，該機構的主要特點是：結構簡單，步態(tài)新穎，控制容易實現(xiàn)。分別驅動三套電機運動可以實現(xiàn)機構在地面以不同步態(tài)行走，實現(xiàn)前進、后退、轉彎等功能。</p><p><b>　　1.2步態(tài)的設計</b></p><p>　　步行機構的行走方式分為靜態(tài)行走和動態(tài)行走兩類。靜態(tài)行走方式是指步行機構在行走過程中始終有三只以上的足同時著地；動態(tài)行走方式是指除此以外的其余行走方式。更準

65、確的說，靜態(tài)行走是指步行機構在行走過程中，其重心總是處于穩(wěn)定支撐平面內(nèi)。支撐平面是指支撐足之間所組成的多邊形。為獲得較好的穩(wěn)定性，本文設計中將六足分為兩組，身體一側的前足、后足及另一側的中足作為一組，形成一個穩(wěn)定的三角支撐。兩組足交替的擺動和支撐，實現(xiàn)機構的移動。</p><p>　　理論上而言，六足機構可供選擇的步態(tài)較多，但也應遵循一般的準則：（1）所選步態(tài)應符合動物的行走習慣。經(jīng)驗和理論分析表明，動物的行走方

66、式是自然界中最合理的，這些行走方式不僅能使步行機構平衡，而且能使所消耗的能量減少到最低程度。（2）所選步態(tài)應使控制盡可能的簡單，和動物的行走不同，步行機構的行走必須加入以人為的控制，如果所選步態(tài)存在控制上的困難甚至難以實現(xiàn)，顯然意義是不大的。綜合考慮這兩條準則以及機構的整體構成，對機構的行走步態(tài)作如下規(guī)劃。</p><p>　　1.2.1前進時的行走步態(tài)</p><p>　　圖1-1六足機

67、構前進時的行走步態(tài)</p><p>　　分析六足機構前進時的行走步態(tài)，如圖1-1所示。六足機構開始運動后，第一步，足2和足5擺動一個角度，使軀體左側抬起，足1、足3和足5懸空，足2、足4和足6著地，并形成一個三角支撐區(qū)域。若行走過程中，該機構的重心始終位于該三角形內(nèi)，則六足機構處于穩(wěn)定狀態(tài)，不至于摔倒。第二步，著地的足4和足6相對軀體向后擺動一定的角度，實現(xiàn)軀體相對地面向前的第一步移動。第三步，懸空的足1和足3向

68、前擺動一個角度。第四步足2和足5反方向擺動一個角度，使軀體右側抬起，足2、足4和足6懸空，足1、足3和足5著地。第五步，著地的足1和足3相對軀體向后擺動一個角度，實現(xiàn)軀體相對地面向前的第二步移動。第六步，懸空的足4和足6相對軀體向前擺動一個角度。如此(a)-(b)-(c)-(d)-(e)-(f)-(a)往復循環(huán)。后退時的步態(tài)依次類推。</p><p>　　模擬了該六足機構前進的連續(xù)運動步態(tài)?？梢钥闯觯摍C構的行走

69、方向并不是直線，如果先邁右腿則機構最終向左偏移。而且，當機構邁出第一步后，整個軀干與原來的位置會形成一個夾角ψ，機構的前進距離為m。邁出第二步后，機構的姿態(tài)回到原位，前進距離為n，向左偏移距離為s。</p><p>　　1.2.2轉彎時的行走步態(tài)</p><p>　　圖1-2 六足機器人轉彎示意圖</p><p>　　如圖1-2所示，為六足機構右轉時的行走步態(tài)。六足

70、機構開始運動后，第一步，足2和足5擺動一個角度，使軀體左側抬起，足1、足3和足5懸空，足2、足4和足6著地，并形成一個三角形支撐區(qū)域。第二步，著地的足4和足6相對軀體向后擺動一定的角度，實現(xiàn)軀體相對地面向前的第一步轉動。如圖所示，此時軀體的位姿已相對上一位姿轉動一個角度α。第三步，懸空的足1和足3相對軀體向后擺動一定的角度。第四步足2和足5反方向擺動一個角度，實現(xiàn)軀體相對地面向前的第二步轉動。如圖所示此時軀體的位姿已相對上一位姿又轉動了

71、一個角度α。懸空的足4和足6相對軀體向前擺動一個角度。如此(a)-(b)-(c)-(d)-(e)-(f)-(a)往復循環(huán)，便可實現(xiàn)六足機構向左轉動。右轉則以次類推。在整個周期中包含6步，一個周期可實現(xiàn)機構轉動2α角。</p><p><b>　　1.3 穩(wěn)定性分析</b></p><p>　　采用穩(wěn)定角來評定步行機構時的穩(wěn)定性簡單明了。先進行如下定義：</p&g

72、t;<p>　　（1）支撐域 由構成支撐圖形的支撐足之間所組成的多邊形，這些連線稱為支撐域的支撐邊界</p><p>　　（2）支撐邊界的穩(wěn)定角θ 指步行機構機體質心與該邊界所成平面同過該邊界的鉛垂面所成的角度。前、后、左、右穩(wěn)定角分別對應前、后、左、右邊界鉛垂面方向的夾角。任一支撐域的穩(wěn)定角等于該域內(nèi)所有支撐邊界穩(wěn)定角的最小值。步行機構是否穩(wěn)定可以用穩(wěn)定角來判斷：①穩(wěn)定角 θ＞0，步行機構處于

73、靜態(tài)穩(wěn)定狀態(tài)；②穩(wěn)定角θ =0，步行機構處于臨界靜態(tài)穩(wěn)定狀態(tài)；③穩(wěn)定角θ＜0 時，步行機構靜態(tài)不穩(wěn)定。</p><p><b>　　2 控制系統(tǒng)</b></p><p>　　昆蟲行走時，前后足向前擺動，中間兩足左右擺動。系統(tǒng)在工作狀態(tài)的任一時刻應該能夠檢測到各足的位置，本機構中采用航模直流伺服電機。電位器內(nèi)置在航模電機齒輪箱中，電位器的旋轉軸與電機的輸出軸是同軸的。&

74、lt;/p><p>　　系統(tǒng)自帶電源，工作時，單片機按預先編制的程序控制電機的旋轉。旋轉時，電位器滑動端的電壓也隨之變化，該電壓被引入單片機的A\D轉換單元，經(jīng)模數(shù)轉換后為一個數(shù)字量。程序中可以設定該數(shù)字量的上下限來控制電機向兩個方向旋轉的極限位置。傳感器還包括兩個行程開關和一個反射式紅外傳感器，行程開關可以看作該六足機構的觸角，當該觸角碰到障礙物時，會觸發(fā)一個脈沖，使單片機產(chǎn)生中斷，執(zhí)行相應的中斷服務程序；反射式紅

75、外傳感器也是同樣的用途，只是不用接觸到摩擦物。這樣，該機構就可以按預先編制好的程序和傳感器接受到的信號情況自主行走。</p><p>　　控制部分是整個機械系統(tǒng)設計關鍵和核心，它在結構和功能上的劃分和實現(xiàn)直接關系到機器人系統(tǒng)的可靠性、實用性，也影響和制約機械手系統(tǒng)的研制成本和開發(fā)周期。在控制主機的選用上，采用結構緊湊、擴展功能強和可靠性高的PC工業(yè)控制計算機作為主機，配以PCL-839卡主要承擔系統(tǒng)功能初始化、數(shù)

76、據(jù)運算與處理、步進電機驅動以及故障診斷等功能;同時對PCL-839卡的結構特點、功能原理和其高定位功能等給與了分析。硬件是整個控制系統(tǒng)以及極限位置功能賴以存在的物質基礎，軟件則是計算機控制系統(tǒng)的神經(jīng)中樞，軟件設計的目的是以最優(yōu)的方式將各部分功能有機的結合起來，使系統(tǒng)具有較高的運行效率和較強的可靠性。在物料抓取機械手軟件的設計上，采用的是模塊化結構，分為系統(tǒng)初始化模塊、數(shù)據(jù)處理模塊和故障狀態(tài)檢測與處理等幾部分。主控計算機和各控制單元之間全

77、部由PCL-839卡聯(lián)系，并且由該卡實現(xiàn)抗干擾等問題，減少外部信號對系統(tǒng)的影響。</p><p><b>　　3實驗</b></p><p>　　根據(jù)前述原理和設計方案，制作了六足移動機器人的樣機，其基本機構尺寸為：軀干加上觸角總長290mm；寬230mm；高110mm。該樣機自帶電源，按預先編制好的程序和傳感器接受的信號情況自主行走。對樣機的測試結果顯示六足機器人可

78、以平穩(wěn)地在硬地面上行走，自行躲避障礙。</p><p>　　在完成機械結構和驅動系統(tǒng)設計的基礎上，對物料抓取機械手運動學和動力學進行了分析。運動學分析是路徑規(guī)劃和軌跡控制的基礎，對操作臂進行了運動學正、逆問題的分析可以完成操作空間位置和速度向驅動空間的映射，采用齊次坐標變換法得到了操作臂末端位置和姿態(tài)隨關節(jié)夾角之間的變換關系，采用幾何法分析了操作臂的逆向運動學方程求解問題，對控制系統(tǒng)設計提供了理論依據(jù)。機器人動力

79、學是研究物體的運動和作用力之間的關系的科學，研究的目的是為了滿足是實時性控制的需要，本文采用牛頓-歐拉方法對物料抓取機械手動力學進行了分析，計算出了關節(jié)力和關節(jié)力矩，為步進電機的選型和動力學分析與結構優(yōu)化提供理論依據(jù)。步進電機的啟停頻率遠遠小于其最高運行頻率，為了提高工作效率，需要步進電機高速運行并快速啟停時，必須考慮它的升，降速控制問題。電機的升降速控制可以歸結為以某種合理的力一式控制發(fā)送到步進電機驅動器的脈沖頻率，這可由硬件實現(xiàn)，也