機械手設(shè)計外文翻譯2

1、<p><b>　　譯文一</b></p><p><b>　　機械手</b></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(qū)動、傳感器與信息處理以及人工智能等多學(xué)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(shù)得到了迅速發(fā)展，出現(xiàn)了各種各樣的機器人

2、產(chǎn)品?，F(xiàn)代工業(yè)機器人是人類真正的奇跡工程。一個像人那么大的機器人可以輕松地抬起超過一百磅并可以在誤差+-0.006英寸誤差范圍內(nèi)重復(fù)的移動。更重要的是這些機器人可以每天24小時永不停止地工作。在許多應(yīng)用中（特別是在自動工業(yè)中）他們是通過編程控制的，但是他們一旦編程一次，他們可以重復(fù)地做同一工作許多年。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。 </p><p>

3、　　目前，由于機器人的研制和開發(fā)涉及多方面的技術(shù)，系統(tǒng)結(jié)構(gòu)復(fù)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(shù)的廣泛應(yīng)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。 由于我國經(jīng)濟建設(shè)和城市化的快速發(fā)展，城市污水排放量增長很快，污水處理己經(jīng)擺在了人們的議事日程上來。隨著科學(xué)技術(shù)的發(fā)展和人類知識水平的提高，人們越來越認(rèn)識到污水處理的重要性和迫切性，科學(xué)家和研究人員發(fā)現(xiàn)塑料制品在水中是用于污水處理的很

4、有效的污泥菌群的附著體。塑料制品的大量需求，使得塑料制品生產(chǎn)的自動化和高效率要求成為經(jīng)濟發(fā)展的必然。 本文結(jié)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，綜述近兒年機器人技術(shù)研究和發(fā)展的狀況，在充分發(fā)揮機、電、軟、硬件各自特點和優(yōu)勢互補的基礎(chǔ)上，對物料抓取機械手整體機械結(jié)構(gòu)、傳動系統(tǒng)、驅(qū)動裝置和控制系統(tǒng)進行了分析和設(shè)計，提出了一套經(jīng)濟型設(shè)計方案。采用直角坐標(biāo)和關(guān)節(jié)坐標(biāo)相結(jié)合的框架式機械結(jié)構(gòu)形式，這種方式能夠提高系統(tǒng)的穩(wěn)定性

5、和操作靈活性。傳動裝置的作用是將驅(qū)動元件的動力傳遞給機器人機械手相應(yīng)的執(zhí)行機構(gòu)，以實現(xiàn)各種必要的運動，傳動方式上采用結(jié)構(gòu)緊湊</p><p>　　研究機械手控制的目的是保持以計算機為基礎(chǔ)的機械手的動態(tài)響應(yīng)，以便與一些預(yù)先設(shè)定的系統(tǒng)性能和理想目標(biāo)保持一致。一般情況下，機械手的動態(tài)性能直接依賴于控制算法的效率和機械手的動態(tài)模型。控制問題包括獲得自然的機械手系統(tǒng)的動態(tài)模型，然后指定相應(yīng)的控制規(guī)則或步驟以達到想要的系統(tǒng)響

6、應(yīng)和性能。</p><p>　　目前的工業(yè)機械臂控制將每一個機械臂的聯(lián)合看做一個簡單的聯(lián)合伺服。伺服方法不能充分地模仿不同的動力學(xué)機械手，因為它忽略了機械手整體的運動和配置。這些控制系統(tǒng)的參數(shù)的變化有時是足夠重要，以至于使常規(guī)的反饋控制方法失效。其結(jié)果是減少了伺服響應(yīng)的速度和阻尼，限制了精度和最終效應(yīng)的速度，使系統(tǒng)僅適用于有限精度的工作。機械手以這種方式控制速度降低而沒有不必要的震動。任何在這一領(lǐng)域和其它領(lǐng)域的機

7、械臂性能增益要求更有效率的動態(tài)模型、精密的控制方法、專門的計算機架構(gòu)和并行處理技術(shù)。</p><p>　　在工業(yè)生產(chǎn)和其他領(lǐng)域內(nèi)，由于工作的需要，人們經(jīng)常受到高溫、腐蝕及有毒氣體等因素的危害，增加了工人的勞動強度，甚至于危及生命。自從機械手問世以來，相應(yīng)的各種難題迎刃而解。機械手可在空間抓、放、搬運物體，動作靈活多樣，適用于可變換生產(chǎn)品種的中、小批量自動化生產(chǎn)，廣泛應(yīng)用于柔性自動線。機械手一般由耐高溫，抗腐蝕的材

8、料制成，以適應(yīng)現(xiàn)場惡劣的環(huán)境，大大降低了工人的勞動強度，提高了工作效率。機械手是工業(yè)機器人的重要組成部分，在很多情況下它就可以稱為工業(yè)機器人。工業(yè)機器人是集機械、電子、控制、計算機、傳感器、人工智能等多學(xué)科先進技術(shù)于一體的現(xiàn)代制造業(yè)重要的自動化裝備。廣泛采用工業(yè)機器人，不僅可以提高產(chǎn)品的質(zhì)量與產(chǎn)量，而且對保障人身安全，改善勞動環(huán)境，減輕勞動強度，提高勞動生產(chǎn)率，節(jié)約原材料消耗以及降低生產(chǎn)成本，有著十分重要的意義。</p>

9、<p>　　機械部件有滾珠絲杠、滑軌、氣控機械抓手等。電氣方面有可編程控制器（PLC）、編程器、步進電機、步進電機驅(qū)動器、直流電機、光電傳感器、開關(guān)電源、電磁閥、旋轉(zhuǎn)碼盤、操作臺等部件?？删幊炭刂破靼l(fā)出兩路脈沖到步進電機驅(qū)動器，分別驅(qū)動橫軸、豎軸的步進電機運轉(zhuǎn)；直流電機拖動底座和手爪的旋轉(zhuǎn)；接近開關(guān)、微動開關(guān)、旋轉(zhuǎn)碼盤將位置信號反饋給主機，由主機發(fā)出指令來實現(xiàn)對手臂的伸縮、上下、轉(zhuǎn)動位置的控制；主機發(fā)信號到氣動電磁閥，以控制手

10、爪的張合來抓放物體。本設(shè)計可根據(jù)工件的變化及運動流程的要求隨時更改相關(guān)參數(shù)，具有很大的靈活性和可操作性。</p><p><b>　　外文原文一</b></p><p>　　manipulator</p><p>　　Robot is a type of mechantronics equipment which synthesizes the

11、 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

12、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 dif<

13、/p><p>　　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 th

14、e 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

15、 of the modern cities, the let of sewage is increasing quickly: With the develo</p><p>　　The purpose of manipulator control is to maintain the dynamic response of a computer-based manipulator in accordance w

16、ith some prespecified system performance and desired goals. In general, the dynamic performance of a manipulator directly depends on the efficiency of the control algorithms and the dynamic model of the manipulator. The

17、control problem consists of obtaining dynamic models of the physical robot arm system and then specifying corresponding control laws or strategies to achieve the </p><p>　　Current industrial approaches to ro

18、bot arm control treat each joint of the robot arm as a simple joint servomechanism. The servomechanism approach models the varying dynamics of a manipulator inadequately because it neglects the motion and configuration o

19、f the whole arm mechanism. These changes in the parameters of the controlled system sometimes are significant enough to render conventional feedback control strategies ineffective. The result is reduced servo response sp

20、eed and damping, limiting</p><p>　　In the industrial production and other fields, people often endangered by such factors as high temperature, corrode, poisonous gas and so forth at work, which have increase

21、d labor intensity and even jeopardized the life sometimes. The corresponding problems are solved since the robot arm comes out. The robot arms can catch, put and carry objects, and its movements are flexible and diversif

22、ied. It applies to medium and small-scale automated production in which production varieties can be switched</p><p><b>　　譯文二</b></p><p><b>　　數(shù)控技術(shù)</b></p><p>

23、　　數(shù)控是可編程自動化技術(shù)的一種形式，通過數(shù)字、字母和其他符號來控制加工設(shè)備。數(shù)字、字母和符號用適當(dāng)?shù)母袷骄幋a為一個特定工件定義指令程序。當(dāng)工件改變時，指令程序就改變。這種改變程序的能力使數(shù)控適合于中、小批量生產(chǎn)，寫一段新程序遠比對加工設(shè)備做大的改動容易得多。</p><p>　　數(shù)控機床有兩種基本形式：點位控制和連續(xù)控制(也稱為輪廓控制)。點位控制機床采用異步電動機，因此，主軸的定位只能通過完成一個運動或一個電

24、動機的轉(zhuǎn)動來實現(xiàn)。這種機床主要用于直線切削或鉆孔、鏜孔等場合。</p><p>　　數(shù)控系統(tǒng)由下列組件組成：數(shù)據(jù)輸入裝置，帶控制單元的磁帶閱讀機，反饋裝置和切削機床或其他形式的數(shù)控設(shè)備。</p><p>　　數(shù)據(jù)輸人裝置，也稱“人機聯(lián)系裝置”，可用人工或全自動方法向機床提供數(shù)據(jù)。人工方法作為輸人數(shù)據(jù)唯一方法時，只限于少量輸入。人工輸入裝置有鍵盤，撥號盤，按鈕，開關(guān)或撥輪選擇開關(guān)，這些都位于

25、機床附近的一個控制臺上。撥號盤通常連到一個同步解析器或電位計的模擬裝置上。在大多數(shù)情況下，按鈕、開關(guān)和其他類似的旋鈕是數(shù)據(jù)輸入元件。人工輸入需要操作者控制每個操作，這是一個既慢又單調(diào)的過程，除了簡單加工場合或特殊情況，已很少使用。</p><p>　　幾乎所有情況下，信息都是通過卡片、穿孔紙帶或磁帶自動提供給控制單元。在傳統(tǒng)的數(shù)控系統(tǒng)中，八信道穿孔紙帶是最常用的數(shù)據(jù)輸入形式，紙帶上的編碼指令由一系列稱為程序塊的穿

26、孔組成。每一個程序塊代表一種加工功能、一種操作或兩者的組合。紙帶上的整個數(shù)控程序由這些連續(xù)數(shù)據(jù)單元連接而成。帶有程序的長帶子像電影膠片一樣繞在盤子上，相對較短的帶子上的程序可通過將紙帶兩端連接形成一個循環(huán)而連續(xù)不斷地重復(fù)使用。帶子一旦安裝好，就可反復(fù)使用而無需進一步處理。此時，操作者只是簡單地上、下工件。穿孔紙帶是在帶有特制穿孔附件的打字機或直接連到計算機上的紙帶穿孔裝置上做成的。紙帶制造很少不出錯，錯誤可能由編程、卡片穿孔或編碼、紙帶

27、穿孔時的物理損害等形成。通常，必須要試走幾次來排除錯誤，才能得到一個可用的工作紙帶。</p><p>　　雖然紙帶上的數(shù)據(jù)是自動進給的，但實際編程卻是手工完成的，在編碼紙帶做好前，編程者經(jīng)常要和一個計劃人員或工藝工程師一起工作，選擇合適的數(shù)控機床，決定加工材料，計算切削速度和進給速度，決定所需刀具類型，仔細(xì)閱讀零件圖上尺寸，定下合適的程序開始的零參考點，然后寫出程序清單，其上記載有描述加工順序的編碼數(shù)控指令，機床

28、按順序加工工件到圖樣要求。</p><p>　　控制單元接受和儲存編碼數(shù)據(jù)，直至形成一個完整的信息程序塊，然后解釋數(shù)控指令，并引導(dǎo)機床得到所需運動。</p><p>　　為更好理解控制單元的作用，可將它與撥號電話進行比較，即每撥一個數(shù)字，就儲存一個，當(dāng)整個數(shù)字撥好后，電話就被激活，也就完成了呼叫。</p><p>　　裝在控制單元里的紙帶閱讀機，通過其內(nèi)的硅光二極管

29、，檢測到穿過移動紙帶上的孔漏過的光線，將光束轉(zhuǎn)變成電能，并通過放大來進一步加強信號，然后將信號送到控制單元里的寄存器，由它將動作信號傳到機床驅(qū)動裝置。</p><p>　　有些光電裝置能以高達每秒1000個字節(jié)的速度閱讀，這對保持機床連續(xù)動作是必須的，否則，在輪廓加工時，刀具可能在工件上產(chǎn)生劃痕。閱讀裝置必須要能以比控制系統(tǒng)處理數(shù)據(jù)更快的速度來閱讀數(shù)據(jù)程序塊。</p><p>　　反饋裝置

30、是用在一些數(shù)控設(shè)備上的安全裝置，它可連續(xù)補償控制位置與機床運動滑臺的實際位置之間的誤差。裝有這種直接反饋檢查裝置的數(shù)控機床有一個閉環(huán)系統(tǒng)裝置。位置控制通過傳感器實現(xiàn)，在實際工作時，記錄下滑臺的位置，并將這些信息送回控制單元。接受到的信號與紙帶輸入的信號相比較，它們之間的任何偏差都可得到糾正。</p><p>　　在另一個稱為開環(huán)的系統(tǒng)中，機床僅由響應(yīng)控制器命令的步進電動機驅(qū)動定位，工件的精度幾乎完全取決于絲杠的精

31、度和機床結(jié)構(gòu)的剛度。有幾個理由可以說明步進電機是一個自動化申請的非常有用的驅(qū)動裝置。對于一件事物，它被不連續(xù)直流電壓脈沖驅(qū)使,是來自數(shù)傳計算機和其他的自動化的非常方便的輸出控制系統(tǒng)。當(dāng)多數(shù)是索引或其他的自動化申請所必備者的時候，步進電機對運行一個精確的有角進步也是理想的。因為控制系統(tǒng)不需要監(jiān)聽就提供特定的輸出指令而且期待系統(tǒng)適當(dāng)?shù)胤磻?yīng)的公開- 環(huán)操作造成一個回應(yīng)環(huán)，步進電機是理想的。 一些工業(yè)的機械手使用高抬腿運步的馬乘汽車駕駛員，而且

32、步進電機是有用的在數(shù)字受約束的工作母機中。 這些申請的大部分是公開- 環(huán) ,但是雇用回應(yīng)環(huán)檢測受到驅(qū)策的成份位置是可能的。 環(huán)的一個分析者把真實的位置與需要的位置作比較，而且不同是考慮過的錯誤。 那然后駕駛員能發(fā)行對步進電機的電脈沖，直到錯誤被減少對準(zhǔn)零位。在這個系統(tǒng)中，沒有信息反饋到控制單元的自矯正過程。出現(xiàn)誤動作時，控制單元繼續(xù)發(fā)出電脈沖。比如，一臺數(shù)控銑床的工作臺突然過載，阻力矩超過電機轉(zhuǎn)矩時，將沒有響應(yīng)信號送回到控制器。因為，步

33、進電機對載荷變化不</p><p>　　最初的數(shù)控系統(tǒng)采用開環(huán)系統(tǒng)。在開、閉環(huán)兩種系統(tǒng)中，閉環(huán)更精確，一般說來更昂貴。起初，因為原先傳統(tǒng)的步進電動機的功率限制，開環(huán)系統(tǒng)幾乎全部用于輕加工場合，最近出現(xiàn)的電液步進電動機已越來越多地用于較重的加工領(lǐng)域。</p><p><b>　　外文原文二</b></p><p>　　NUMERICAL CONT

34、ROL</p><p>　　Numerical control(N／C)is a form of programmable automation in which the processing equipment is controlled by means of numbers，letters，and other symbols．The numbers，letters，and symbols are coded

35、 in an appropriate format to define a program of instructions for a particular workpart or job．When the job changes，the program of instructions is changed．The capability to change the program is what makes N／C suitable f

36、or low-and medium-volume production．It is much easier to write programs than to make m</p><p>　　There are two basic types of numerically controlled machine tools：point—to—point and continuous—path(also calle

37、d contouring)．Point—to—point machines use unsynchronized motors，with the result that the position of the machining head Can be assured only upon completion of a movement，or while only one motor is running．Machines of thi

38、s type are principally used for straight—line cuts or for drilling or boring．</p><p>　　The N／C system consists of the following components：data input，the tape reader with the control unit，feedback devices，an

39、d the metal—cutting machine tool or other type of N／C equipment．</p><p>　　Data input，also called“man—to—control link”，may be provided to the machine tool manually，or entirely by automatic means．Manual method

40、s when used as the sole source of input data are restricted to a relatively small number of inputs．Examples of manually operated devices are keyboard dials，pushbuttons，switches，or thumbwheel selectors．These are located o

41、n a console near the machine．Dials ale analog devices usually connected to a syn-chro-type resolver or potentiometer．In most cases，pushbuttons，swit</p><p>　　In practically all cases，information is automatica

42、lly supplied to the control unit and the machine tool by cards，punched tapes，or by magnetic tape．Eight—channel punched paper tape is the most commonly used form of data input for conventional N／C systems．The coded instru

43、ctions on the tape consist of sections of punched holes called blocks．Each block represents a machine function，a machining operation，or a combination of the two．The entire N／C program on a tape is made up of an accumulat

44、ion of the</p><p>　　While the data on the tape is fed automatically，the actual programming steps ale done manually．Before the coded tape may be prepared，the programmer，often working with a planner or a proce

45、ss engineer, must select the appropriate N／C machine tool，determine the kind of material to be machined，calculate the speeds and feeds，and decide upon the type of tooling needed. The dimensions on the part print are clos

46、ely examined to determine a suitable zero reference point from which to start the program．A p</p><p>　　The control unit receives and stores all coded data until a complete block of information has been accum

47、ulated．It then interprets the coded instruction and directs the machine tool through the required motions．</p><p>　　The function of the control unit may be better understood by comparing it to the action of

48、a dial telephone，where，as each digit is dialed，it is stored．When the entire number has been dialed，the equipment becomes activated and the call is completed．</p><p>　　Silicon photo diodes，located in the tape

49、 reader head on the control unit，detect light as it passes through the holes in the moving tape．The light beams are converted to electrical energy，which is amplified to further strengthen the signal．The signals are then

50、sent to registers in the control unit, where actuation signals are relayed to the machine tool drives．</p><p>　　Some photoelectric devices are capable of reading at rates up to 1000 characters per second．Hig

51、h reading rates are necessary to maintain continuous machine—tool motion；otherwise dwell marks may be generated by the cutter on the part during contouring operations．The reading device must be capable of reading data bl

52、ocks at a rate faster than the control system can process the data．</p><p>　　A feedback device is a safeguard used on some N／C installations to constantly compensate for errors between the commanded position

53、 and the actual location of the moving slides of the machine tool．An N／C machine equipped with this kind of a direct feedback checking device has what is known as a closed-loop system．Positioning control is accomplished

54、by a sensor which，during the actual operation，records the position of the slides and relays this information back to the control unit．Signals thus rec</p><p>　　In an alternative system，called an open—loop sy

55、stem，the machine is positioned solely by stepping motor drives in response to commands by a controllers．There are three basic types of NC motions, as follows:</p><p>　　Point-to-point or Positional Control In

56、 point-to-point control the machine tool elements (tools, table, etc.) are moved to programmed locations and the machining operations performed after the motions are completed. The path or speed of movement between locat

57、ions is unimportant; only the coordinates of the end points of the motions are accurately controlled. This type of control is suitable for drill presses and some boring machines, where drilling, tapping, or boring operat

58、ions must be performe</p><p>　　Continuous Path or Contouring Control In continuous path control the motions of two or more of the machine axes are controlled simultaneously, so that the position and velocity

59、 of the can be tool are changed continuously. In this way curves and surfaces can be machined at a controlled feed rate. It is the function of the interpolator in the controller to determine the increments of the individ

60、ual controlled axes of the machines necessary to produce the desired motion. This type of control is ref</p><p>　　Some terminology concerning controlled motions for NC machines has been introduced. For examp

61、le, some machines are referred to as four-or five-or even six-axis machines. For a vertical milling machine three axes of control are fairly obvious, these being the usual X, Y, Z coordinate directions. A fourth or fifth

62、 axis of control would imply some form of rotary table to index the work piece or possibly to provide angular motion of the work head. Thus, in NC terminology an axis of control is any co</p><p>　　The origin

63、al N／C used the closed—loop system．Of the two systems，closed and open loop，closed loop is more accurate and，as a consequence，is generally more expensive．Initially，open—loop systems were used almost entirely for light-dut

64、y applications because of inherent power limitations previously associated with conventional electric stepping motors．Recent advances in the development of electro hydraulic stepping motors have led to increasingly heavi

65、er machine load applications．</p><p><b>　　譯文三</b></p><p>　　帶有自動換刀方法的加工中心配置合成</p><p>　　本文件的目的是出席一個自動換刀加工中心配置的綜合設(shè)計方法，以滿足所需的拓?fù)浣Y(jié)構(gòu)和運動特性。根據(jù)坐標(biāo)系的概念，圖論，概括，專業(yè)化，和運動合成，這種設(shè)計方法，提出和電腦，

66、并與自動換刀多達8個環(huán)節(jié)的綜合加工中心。作為結(jié)果，與鼓型刀庫，6，7號的加工中心配置和8鏈接分別是2，13和20。同樣，與線性型刀庫的加工中心，5，6，7人數(shù)的加工中心配置和8聯(lián)系分別為1，5，20和60。此外，這項工作提供了一個綜合的空間開放與拓?fù)浣Y(jié)構(gòu)和運動的要求類型的機制系統(tǒng)的方法。</p><p><b>　　導(dǎo)言</b></p><p>　　加工中心運動學(xué)可以

67、被看作是一個開放型的機制，他們與特定的拓?fù)浣Y(jié)構(gòu)特點的特殊功能。與平面機制的創(chuàng)新設(shè)計相關(guān)的問題一直是過去幾年許多研究課題。然而，開放式的空間結(jié)構(gòu)議案類型的機制設(shè)計方法合成不可用。在過去數(shù)年，只是在加工中心結(jié)構(gòu)設(shè)計的重點幾篇文章。杉村等。 （1981年）使用的分析方法，調(diào)查的機床設(shè)計。伊藤和信乃（1982年，1983年和1987年）產(chǎn)生的使用有向圖的機床結(jié)構(gòu)配置。列舍托夫和波特曼（1988）提出的合成與功能相同的成型機床配置的配置代碼。的配

68、置代碼的概念被廣泛采用的5配置合成軸機床（石澤等，1991;坂稻崎，1992年）。但是，自動換刀系統(tǒng)沒有考慮。該系統(tǒng)自動執(zhí)行之間的主軸和一個加工中心刀庫工具的變化被稱為自動換刀（ATC）的。空管在降低機器閑置時間了重要作用，因此，增加加工過程中的生產(chǎn)力。的建議本文是提出一個對加工中心的自動換刀可能的配置系統(tǒng)的一代，是開放式的設(shè)計方法，類型空間機制受拓?fù)浜瓦\動約束。</p><p><b>　　現(xiàn)有的機制

69、</b></p><p>　　在設(shè)計過程的第一步是研究現(xiàn)有的機制和締結(jié)的拓?fù)浣Y(jié)構(gòu)和運動特性，加工中心機床的4個基本組成部分：一軸，刀庫，轉(zhuǎn)變機制的工具組成，以及機床結(jié)構(gòu)包括權(quán)力軸的議案。機床結(jié)構(gòu)在很大程度上決定了加工表面，剛度準(zhǔn)確性和動態(tài)品質(zhì)。主軸旋轉(zhuǎn)工具機到所需的工件表面。該工具雜志存儲工具和行動為他們在加工操作使用適合的崗位。該工具的變化機制執(zhí)行工具之間的雜志和主軸工具的變化。最簡單的ATC是一個

70、沒有變化機制的設(shè)計工具，工具之間的雜志和主軸實現(xiàn)相對運動換刀的議案。圖3（a）和（b）顯示2 3軸鼓型和直線型工具雜志，分別臥式加工中心。代表和分析的拓?fù)浣Y(jié)構(gòu)和加工中心，運動特色的坐標(biāo)系統(tǒng)的定義來描述的每一項議案軸加工中心分配為基礎(chǔ)的國際標(biāo)準(zhǔn)化組織（ISO，1974）命名。本標(biāo)準(zhǔn)坐標(biāo)系是右手直角笛卡兒之一，相關(guān)的工件安裝在一臺機器，與校長的線性橫向這臺機器相一致。對機器的一個組成部分運動產(chǎn)生積極的方向是，這將導(dǎo)致越來越工件的積極方面。追

71、加的臥式加工中心的ISO標(biāo)準(zhǔn)的原理圖如圖所示。 3。通過分析提供現(xiàn)有的3軸沒有工具，改變機制臥式加工中心，我們可以得出結(jié)論的拓?fù)浣Y(jié)構(gòu)和運動特性（燕，陳，1995年）如下。</p><p><b>　　拓?fù)湫枨?lt;/b></p><p>　　拓?fù)湟蠼Y(jié)束根據(jù)現(xiàn)有機制的拓?fù)浣Y(jié)構(gòu)特點。在我們的例子，鏈接和3個關(guān)節(jié)的設(shè)計要求軸在其相應(yīng)的樹圖的臥式加工中心是：</p>

72、<p>　　1、必須有一個為主軸吊墜頂點。</p><p>　　2、必須有一個頂點，那里的路徑長度為4主軸，作為工作表。</p><p>　　3、必須有一個根，這是由主軸頭路位于工作表中的幀。</p><p>　　4、必須有一個頂點，這是一個從頂點吊燈從幀路徑主軸頭位于頂點分支的分支為工具雜志。</p><p>　　5、與必須被

73、看作是對分配的主軸轉(zhuǎn)動邊事件。</p><p>　　6、之間的主軸頭和工作臺的邊緣，必須指定為棱鏡對。</p><p>　　7、工具之間的雜志和分支頂點的邊緣，必須指定為轉(zhuǎn)動，棱柱形，或圓柱對。而且，如果有一個轉(zhuǎn)動對或一對圓柱，它必須與工具的事件雜志。</p><p><b>　　鏈接分配規(guī)則</b></p><p>　

74、　1、選擇一個為主軸吊墜頂點。</p><p>　　2、選擇一個頂點，那里的路徑長度為主軸是4，如工作表。如果這個頂點不存在，刪除此圖并轉(zhuǎn)到步驟6。</p><p>　　3、選擇一個頂點，它是由主軸頭路位于工作臺，因為框架。</p><p>　　4、選擇一個頂點，這是從掛件頂點從主軸頭路徑幀分行位于頂點分支，作為工具雜志。如果這個頂點不存在，刪除此圖并轉(zhuǎn)到步驟6。&

75、lt;/p><p>　　5、其他未分配的頂點分配的鏈接湖</p><p><b>　　6、完成連接任務(wù)。</b></p><p><b>　　聯(lián)合分配規(guī)則</b></p><p>　　1、與主軸邊緣事件被指定為一轉(zhuǎn)動一對。</p><p>　　2、在從主軸頭路的邊緣，工作表中指定

76、為棱鏡對。</p><p>　　3、基于路徑的長度從分支頂點工具雜志，邊緣可分配根據(jù)的R，P和C中的專業(yè)化聯(lián)合置換后，我們必須找出這些專門樹圖受該機制約束的拓?fù)浣Y(jié)構(gòu)加工中心，我們要建立。對于我們來說，拓?fù)浼s束列舉如下：</p><p>　　1、該掛件頂點必須是主軸，工具雜志，或工作表。</p><p>　　2、該工具雜志頂點位于從主軸頭支到框架。</p>

77、<p>　　3、在轉(zhuǎn)動兩人必須與主軸或刀庫事件，以及圓柱對必須與工具雜志事件。</p><p>　　據(jù)聯(lián)系和聯(lián)合分配規(guī)則，我們可以專門樹圖的地圖集，以獲取專業(yè)樹圖。專業(yè)化過程可以通過電腦輸入到程序樹圖相鄰矩陣和鄰接矩陣所需的聯(lián)系和拓?fù)浣Y(jié)構(gòu)的數(shù)字結(jié)果。圖7顯示了計算機專業(yè)流程圖和拓?fù)浣Y(jié)構(gòu)的號碼，滿足拓?fù)湟蠛拖拗?，在?中列出。</p><p><b>　　原文三&l

78、t;/b></p><p>　　A Methodology for the Configuration Synthesis of Machining Centers with Automatic Tool Changer</p><p>　　The purpose of this paper is to present a design methodology for the con

79、figuration synthesis of machining centers with automatic tool changer to meet the required topology and motion characteristics. According to the concept of coordinate system, graph theory, generalization, specialization

80、, and motion synthesis, this design methodology is proposed and computerized, and the machining centers with automatic tool changer up to eight links are synthesized. As the result, for the machining centers </p>

81、<p>　　Introduction</p><p>　　Machining center kinematics may be considered as an open-type mechanism, and they have special functions with specific topology characteristics. The problems associated with

82、the creative design of planar mechanisms have been the subject of a number of studies (Johnson, 1965; Freudenstein and Maki, 1979, 1983; Erdman, et al., 1980; Yan and Hsu, 1983; Yan and Chen, 1985; Yan, 1992) over the p

83、a,st years. However, design methodologies for the structural synthesis of open-type mechanisms with spatia</p><p>　　Existing Mechanisms</p><p>　　The first step of the design process is to study

84、existing mechanisms and conclude their topology and motion characteristics, A machining center is a machine tool consisting of four basic components: a spindle, a tool magazine, a tool change mechanism, and a machine too

85、l structure including motion of power axes. The machine tool structure largely determines the accuracy of machined surface, stiffness, and dynamic quality. The spindle rotates the tool to machine the workpiece to the des

86、ired surfac</p><p>　　Topology Requirements</p><p>　　Topology requirements are concluded according to the topology characteristics of existing mechanisms. For our example, the design requirements

87、 of links and joints of the 3-axis horizontal machining centers in their corresponding tree graphs are:</p><p>　　1. There must be a pendant vertex as the spindle.</p><p>　　2. There must be a ver

88、tex, where the length of path to the spindle</p><p>　　is four, as the working table.</p><p>　　3. There must be a root, which is located on the path from the</p><p>　　spindle head to

89、 the working table, as the frame.</p><p>　　4. There must be a vertex, which is a pendant vertex branching</p><p>　　from the branch vertex located on the path from the frame to</p><p&g

90、t;　　the spindle head, as the tool magazine.</p><p>　　5. The edge incident with the spindle must be assigned as a</p><p>　　revolute pair.</p><p>　　6. The edges between the spindle he

91、ad and the working table</p><p>　　must be assigned as prismatic pairs.</p><p>　　7. The edges between the tool magazine and the branch vertexmust be assigned as revolute, prismatic, or cylindrica

92、l pairs.And, if there is a revolute pair or a cylindrical pair, it must beincident with the tool magazine.</p><p>　　Based on the topological requirements of existing mechanisms,the assignment rules of links

93、and joints are concluded as follows.</p><p>　　Link assignment rules</p><p>　　1. Select a pendant vertex as the spindle.</p><p>　　2. Select a vertex, where the length of path to the

94、spindle is four, as the working table. If this vertex does not exist, delete this graph and go to step 6.</p><p>　　3. Select a vertex, which is located on the path from the spindle head to the working table,

95、 as the frame.</p><p>　　4. Select a vertex, which is the pendant vertex branching from the branch vertex located on the path from the spindle head to the frame, as the tool magazine. If this vertex does not

96、exist, delete this graph and go to step 6.</p><p>　　5. The other unassigned vertices are assigned as links L.</p><p>　　6. Complete the link assignment.</p><p>　　Joint assignment rul

97、es</p><p>　　1. The edge incident with the spindle is assigned as a revolute pair.</p><p>　　2. The edges on the path from the spindle head to the working table are assigned as prismatic pairs.<

98、;/p><p>　　3. Based on the length of path from the branch vertex to tool magazine, the edges can be assigned according to the joint permutations of R, P, and C. After specialization, we must identify these speci

99、alized tree graphs subject to topology constraints of the mechanisms of machining centers we would like to create. For our example, the topology constraints are listed as follows:</p><p>　　1. The pendant ver

100、tices must be the spindle, the tool magazine, or the working table.</p><p>　　2. The vertex of tool magazine is located on the branch from the spindle head to the frame.</p><p>　　3. The revolute