外文翻譯--末端執(zhí)行器技術(shù)

1、<p><b>　　附錄</b></p><p><b>　　外文文獻(xiàn)及翻譯</b></p><p>　　作 者Arvidsson譯 名阿維德森國(guó) 籍瑞典</p><p>　　原文出處FOREIGN PATENT DOCUMENTS (國(guó)外專(zhuān)利文獻(xiàn))</p><p>　

2、　The technology of end effector</p><p>　　.The end effector is a type of mechantronics equipment which synthesizes the last research achievement of engine and precision engine, micro-electronics and computer,

3、 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

4、 of the robots products are come into being. The practicality use of robot products not only solves the problems w</p><p>　　With the rapid progress with the control economy and expanding of the modern cities

5、, 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 dispo

6、sal. 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 </p><p>　　

7、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 analysi

8、s 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, t

9、he mechanical configuration combines the character of direct</p><p>　　The analysis of kinematics and dynamics for object holding manipulator is given in completing the design of mechanical structure and driv

10、e system. Kinematics analysis is the basis of path programming and track control. The positive and reverse analysis of manipulator gives the relationship between manipulator space and drive space in position and speed. T

11、he relationship between manipulator’s tip position and arthrosis angles is concluded by coordinate transform method. The geometry method is use</p><p>　　Control system is the key and core part of the object

12、holding manipulator system design which will direct effect the reliability and practicality of the robot system in the division of configuration and control function and also will effect or limit the development cost and

13、 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 as the principal computer cell and takes the function of system initialization, data operation

14、and di</p><p>　　The start and stop frequency of the step motor is far lower than the maximum running frequency. In order to improve the efficiency of the step motor, the increase and decrease of the speed is

15、 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 speed can be controlled by the pulse frequency sent to the step motor drive w

16、ith a rational method. This can be implemented either by hardware or by software. A step </p><p>　　In 1997, The Japan career development (NASDA) emission technology experiment Satellite ETS - VII (The e Test

17、 Satellite), is The earliest demonstration of on-orbit capture technology independent verification space robot system, as shown in figure 4.In the ETS - VII tracking on a XiaoLiang a star of mechanical arm. A set of NASD

18、A is developed, the length of the 2m for six degrees of freedom ERA of mechanical Arm Robot Arm (ETS) - VII, it contains single-degree-of-freedom, at the end of the actuato</p><p>　　Three multisensor end-eff

19、ector containing five kinds of sensors, including a camera, three close sensor, a soft sensor, a soft sensor and a force/torque sensor, has high reliability and independent ability. Hand can finish fuel, replace batterie

20、s, tighten the screws floating objects, and loosen etc. Precise grab and operational tasks.</p><p>　　ETS - VII on-orbit demonstration of two important during the experiment, the two floating object through t

21、he test capture manipulator end actuators to capture. In order to complete the object of different operation, ETS - VII end actuator designed three GPF (GRAPPLE with torque FIXTURE) interface: the standard interface GPF

22、- S interface, for most of the load, including ORU volitional: electric interface of GPF - M (GPF MITI), mainly for the mechanical arm interface with three means of complete </p><p>　　ARH hand is one half of

23、 Semidexterous dexterity (hand) claws, three degrees, by mixing fingers and flexible refers to the surface. By mixing finger includes a dc motor drives the translation of two fingers and stepping motor driven by the rota

24、tion of the fingers, basic target function. Grab Flexible refers to a reconfigurable form by the hand, in the similar structure surface to install a finger tight needle spring pressure groups, the needle content objects

25、arrays with surface rolling array, st</p><p><b>　　末端執(zhí)行器技術(shù)</b></p><p>　　末端執(zhí)行器是典型的機(jī)電一體化裝置，它綜合運(yùn)用了機(jī)械與精密機(jī)械、微電子與計(jì)算機(jī)、自動(dòng)控制與驅(qū)動(dòng)、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(jì)的發(fā)展和各行各業(yè)對(duì)自動(dòng)化程度要求的提高，機(jī)器人技術(shù)得到了迅速發(fā)展，出

26、現(xiàn)了各種各樣的機(jī)器人產(chǎn)品。機(jī)器人產(chǎn)品的實(shí)用化，既解決了許多單靠人力難以解決的實(shí)際問(wèn)題，又促進(jìn)了工業(yè)自動(dòng)化的進(jìn)程。目前，由于機(jī)器人的研制和開(kāi)發(fā)涉及多方面的技術(shù)，系統(tǒng)結(jié)構(gòu)復(fù)雜，開(kāi)發(fā)和研制的成本普遍較高，在某種程度上限制了該項(xiàng)技術(shù)的廣泛應(yīng)用，因此，研制經(jīng)濟(jì)型、實(shí)用化、高可靠性機(jī)器人系統(tǒng)具有廣泛的社會(huì)現(xiàn)實(shí)意義和經(jīng)濟(jì)價(jià)值。 </p><p>　　由于我國(guó)經(jīng)濟(jì)建設(shè)和城市化的快速發(fā)展，城市污水排放量增長(zhǎng)很快，污水處理己經(jīng)擺在了

27、人們的議事日程上來(lái)。隨著科學(xué)技術(shù)的發(fā)展和人類(lèi)知識(shí)水平的提高，人們?cè)絹?lái)越認(rèn)識(shí)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(dòng)化和高效率要求成為經(jīng)濟(jì)發(fā)展的必然。</p><p>　　綜述近幾年機(jī)器人技術(shù)研究和發(fā)展的狀況，在充分發(fā)揮機(jī)、電、軟、硬件各自特點(diǎn)和優(yōu)勢(shì)互補(bǔ)的基礎(chǔ)上，對(duì)物料抓取機(jī)械手整體機(jī)械結(jié)構(gòu)、傳動(dòng)系統(tǒng)、驅(qū)動(dòng)裝置

28、和控制系統(tǒng)進(jìn)行了分析和設(shè)計(jì)，提出了一套經(jīng)濟(jì)型設(shè)計(jì)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(jī)械結(jié)構(gòu)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(dòng)裝置的作用是將驅(qū)動(dòng)元件的動(dòng)力傳遞給機(jī)器人機(jī)械手相應(yīng)的執(zhí)行機(jī)構(gòu)，以實(shí)現(xiàn)各種必要的運(yùn)動(dòng)，傳動(dòng)方式上采用結(jié)構(gòu)緊湊、傳動(dòng)比大的蝸輪蝸桿傳動(dòng)和將旋轉(zhuǎn)運(yùn)動(dòng)轉(zhuǎn)換為直線運(yùn)動(dòng)的螺旋傳動(dòng)。機(jī)械手驅(qū)動(dòng)系統(tǒng)的設(shè)計(jì)往往受到作業(yè)環(huán)境條件的限制，同時(shí)也要考慮價(jià)格因素的影響以及能夠達(dá)到的技術(shù)水平。由于步進(jìn)電機(jī)能夠直接接收

29、數(shù)字量，響應(yīng)速度快而且工作可靠并無(wú)累積誤差，常用作數(shù)字控制系統(tǒng)驅(qū)動(dòng)機(jī)構(gòu)的動(dòng)力元件，因此，在驅(qū)動(dòng)裝置中采用由步進(jìn)電機(jī)構(gòu)成的開(kāi)環(huán)控制方式，這種方式既能滿足控制精度的要求，又能達(dá)到經(jīng)濟(jì)性、實(shí)用化目的，在此基礎(chǔ)上，對(duì)步進(jìn)電機(jī)的功率計(jì)一算及選型問(wèn)題經(jīng)行了分析。</p><p>　　在完成機(jī)械結(jié)構(gòu)和驅(qū)動(dòng)系統(tǒng)設(shè)計(jì)的基礎(chǔ)上，對(duì)物料抓取機(jī)械手運(yùn)動(dòng)學(xué)和動(dòng)力學(xué)進(jìn)行了分析。運(yùn)動(dòng)學(xué)分析是路徑規(guī)劃和軌跡控制的基礎(chǔ)，對(duì)操作臂進(jìn)行了運(yùn)動(dòng)學(xué)正、逆

30、問(wèn)題的分析可以完成操作空間位置和速度向驅(qū)動(dòng)空間的映射，采用齊次坐標(biāo)變換法得到了操作臂末端位置和姿態(tài)隨關(guān)節(jié)夾角之間的變換關(guān)系，采用幾何法分析了操作臂的逆向運(yùn)動(dòng)學(xué)方程求解問(wèn)題，對(duì)控制系統(tǒng)設(shè)計(jì)提供了理論依據(jù)。機(jī)器人動(dòng)力學(xué)是研究物體的運(yùn)動(dòng)和作用力之間的關(guān)系的科學(xué)，研究的目的是為了滿足是實(shí)時(shí)性控制的需要，本文采用牛頓-歐拉方法對(duì)物料抓取機(jī)械手動(dòng)力學(xué)進(jìn)行了分析，計(jì)算出了關(guān)節(jié)力和關(guān)節(jié)力矩，為步進(jìn)電機(jī)的選型和動(dòng)力學(xué)分析與結(jié)構(gòu)優(yōu)化提供理論依據(jù)。 <

31、/p><p>　　控制部分是整個(gè)物料抓取機(jī)械手系統(tǒng)設(shè)計(jì)關(guān)鍵和核心，它在結(jié)構(gòu)和功能上的劃分和實(shí)現(xiàn)直接關(guān)系到機(jī)器人系統(tǒng)的可靠性、實(shí)用性，也影響和制約機(jī)械手系統(tǒng)的研制成本和開(kāi)發(fā)周期。在控制主機(jī)的選用上，采用結(jié)構(gòu)緊湊、擴(kuò)展功能強(qiáng)和可靠性高的PC工業(yè)控制計(jì)算機(jī)作為主機(jī)，配以PCL-839卡主要承擔(dān)系統(tǒng)功能初始化、數(shù)據(jù)運(yùn)算與處理、步進(jìn)電機(jī)驅(qū)動(dòng)以及故障診斷等功能;同時(shí)對(duì)PCL-839卡的結(jié)構(gòu)特點(diǎn)、功能原理和其高定位功能等給與了分析

32、。硬件是整個(gè)控制系統(tǒng)以及極限位置功能賴(lài)以存在的物質(zhì)基礎(chǔ)，軟件則是計(jì)算機(jī)控制系統(tǒng)的神經(jīng)中樞，軟件設(shè)計(jì)的目的是以最優(yōu)的方式將各部分功能有機(jī)的結(jié)合起來(lái)，使系統(tǒng)具有較高的運(yùn)行效率和較強(qiáng)的可靠性。在物料抓取機(jī)械手軟件的設(shè)計(jì)上，采用的是模塊化結(jié)構(gòu)，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(cè)與處理等幾部分。主控計(jì)算機(jī)和各控制單元之間全部由PCL-839卡聯(lián)系，并且由該卡實(shí)現(xiàn)抗干擾等問(wèn)題，減少外部信號(hào)對(duì)系統(tǒng)的影響。</p><p

33、>　　步進(jìn)電機(jī)的啟停頻率遠(yuǎn)遠(yuǎn)小于其最高運(yùn)行頻率，為了提高工作效率，需要步進(jìn)電機(jī)高速運(yùn)行并快速啟停時(shí)，必須考慮它的升，降速控制問(wèn)題。電機(jī)的升降速控制可以歸結(jié)為以某種合理的力一式控制發(fā)送到步進(jìn)電機(jī)驅(qū)動(dòng)器的脈沖頻率，這可由硬件實(shí)現(xiàn)，也可由軟件方法來(lái)實(shí)現(xiàn)。本文提出了一種算法簡(jiǎn)單、易于實(shí)現(xiàn)、理論意義明確的步進(jìn)電機(jī)變速控制策略:定時(shí)器常量修改變速控制方案。該方法能使步進(jìn)電機(jī)加速度與其力矩——頻率曲線較好地?cái)M合，從而提高變速效率。而且它的計(jì)算量

34、比線性加速度變速和基于指數(shù)規(guī)律加速度的變速控制小得多。通過(guò)實(shí)驗(yàn)證明了該方法的有效性。</p><p>　　1997年，日本宇宙事業(yè)開(kāi)發(fā)團(tuán)（NASDA）發(fā)射的技術(shù)試驗(yàn)衛(wèi)星ETS-VII，是最早演示驗(yàn)證自主在軌捕獲技術(shù)的空間機(jī)器人系統(tǒng)， </p><p>　　在ETS-VII的跟蹤星上搭載一大一小兩套機(jī)械臂。一套是NASDA研制的長(zhǎng)度為2m，具有6個(gè)自由度的機(jī)械臂ERA（ETS-VII Rob

35、ot Arm），它裝有單自由度的末端執(zhí)行器，用于操作具有標(biāo)準(zhǔn)捕獲接口的可更換單元等設(shè)備，三個(gè)末端執(zhí)行器呈120°角設(shè)置在支撐平臺(tái)的周邊上；另一套是通產(chǎn)省研制的先進(jìn)機(jī)械手ARH，ARH由5自由度的機(jī)械臂和帶有三指：拇指、食指、中指的多傳感器末端執(zhí)行器組成，三指靈巧手的手指機(jī)構(gòu)各關(guān)節(jié)通過(guò)運(yùn)動(dòng)副彼此相連，由于只含轉(zhuǎn)動(dòng)副的手指靈巧性比較好，因此，多指靈巧手的運(yùn)動(dòng)副全部采用轉(zhuǎn)動(dòng)副；多指靈巧手的手掌可以增加對(duì)物體的約束，其抓取和操作的適應(yīng)

36、性都比較好，同時(shí)考慮到驅(qū)動(dòng)元件的布置，采取了有手掌的靈巧手結(jié)構(gòu)，而手掌的具體結(jié)構(gòu)取決于電機(jī)的布置及傳動(dòng)裝置的形式。目前大多數(shù)靈巧手采用了電驅(qū)動(dòng)、氣壓驅(qū)動(dòng)和液壓驅(qū)動(dòng)的方式，只有少數(shù)的靈巧手采用了SMA驅(qū)動(dòng)、壓電陶瓷驅(qū)動(dòng)和可伸縮性聚合體驅(qū)動(dòng)等新型驅(qū)動(dòng)技術(shù)。由于電驅(qū)動(dòng)方式具有控制方便，成本低，技術(shù)成熟等優(yōu)點(diǎn)，本設(shè)計(jì)選用了直流伺服電機(jī)作為驅(qū)動(dòng)部件。傳動(dòng)系統(tǒng)是多指靈巧手結(jié)構(gòu)設(shè)計(jì)的難點(diǎn)。繩索傳動(dòng)方式仿效人手的驅(qū)動(dòng)原理并且能夠?qū)崿F(xiàn)遠(yuǎn)距離的運(yùn)動(dòng)和<