外文翻译--末端执行器技术.doc

附录外文文献及翻译作者Arvidsson译名阿维德森国籍瑞典原文出处FOREIGNPATENTDOCUMENTS(国外专利文献)Thetechnologyofendeffector.Theendeffectorisatypeofmechantronicsequipmentwhichsynthesizesthelastresearchachievementofengineandprecisionengine,micro-electronicsandcomputer,automationcontrolanddrive,sensorandmessagedisposeandartificialintelligenceandsoon.Withthedevelopmentofeconomicandthedemandforautomationcontrol,robottechnologyisdevelopedquicklyandalltypesoftherobotsproductsarecomeintobeing.Thepracticalityuseofrobotproductsnotonlysolvestheproblemswhicharedifficulttooperateforhumanbeing,butalsoadvancestheindustrialautomationprogram.Atpresent,theresearchanddevelopmentofrobotinvolvesseveralkindsoftechnologyandtherobotsystemconfigurationissocomplexthatthecostatlargeishighwhichtoacertainextentlimittherobotabroaduse.Todevelopmenteconomicpracticalityandhighreliabilityrobotsystemwillbevaluetorobotsocialapplicationandeconomydevelopment.Withtherapidprogresswiththecontroleconomyandexpandingofthemoderncities,theletofsewageisincreasingquickly:Withthedevelopmentofmoderntechnologyandtheenhancementofconsciousnessaboutenvironmentreserve,moreandmorepeoplerealizedtheimportanceandurgentofsewagedisposal.Activebacteriamethodisaneffectivetechniqueforsewagedisposal，Thelacunarisplasticisaneffectivebasementforactivebacteriaadhesionforsewagedisposal.Theabundancerequirementforlacunarisplasticmakesitisaconsequentfortheplasticproducingwithautomationandhighproductivity.Therefore,itisverynecessarytodesignamanipulatorthatcanautomaticallyfulfilltheplasticholding.Withtheanalysisoftheproblemsinthedesignoftheplasticholdingmanipulatorandsynthesizingtherobotresearchanddevelopmentconditioninrecentyears,aeconomicschemeisconcludedonthebasisoftheanalysisofmechanicalconfiguration,transformsystem,drivedeviceandcontrolsystemandguidedbytheideaofthecharacteristicandcomplexofmechanicalconfiguration,electronic,softwareandhardware.Inthisarticle,themechanicalconfigurationcombinesthecharacterofdirectioncoordinateandthearthrosiscoordinatewhichcanimprovethestabilityandoperationflexibilityofthesystem.Themainfunctionofthetransmissionmechanismistotransmitpowertoimplementdepartmentandcompletethenecessarymovement.Inthistransmissionstructure,thescrewtransmissionmechanismtransmitstherotarymotionintolinearmotion.Wormgearcangivevarytransmissionratio.Bothofthetransmissionmechanismshaveacharacteristicofcompactstructure.Thedesignofdrivesystemoftenislimitedbytheenvironmentconditionandthefactorofcostandtechnicallever.Thestepmotorcanreceivedigitalsignaldirectlyandhastheabilitytoresponseouterenvironmentimmediatelyandhasnoaccumulationerror,whichoftenisusedindrivingsystem.Inthisdrivingsystem,open-loopcontrolsystemiscomposedofsteppingmotor,whichcansatisfythedemandnotonlyforcontrolprecisionbutalsoforthetargetofeconomicandpracticality.Onthisbasis，theanalysisofsteppingmotorinpowercalculatingandstyleselectingisalsogiven.Theanalysisofkinematicsanddynamicsforobjectholdingmanipulatorisgivenincompletingthedesignofmechanicalstructureanddrivesystem.Kinematicsanalysisisthebasisofpathprogrammingandtrackcontrol.Thepositiveandreverseanalysisofmanipulatorgivestherelationshipbetweenmanipulatorspaceanddrivespaceinpositionandspeed.Therelationshipbetweenmanipulatorstippositionandarthrosisanglesisconcludedbycoordinatetransformmethod.Thegeometrymethodisusedinsolvinginversekinematicsproblemandtheresultwillprovidetheoryevidenceforcontrolsystem.Thef0unctionofdynamicsistogettherelationshipbetweenthemovementandforceandthetargetistosatisfythedemandofrealtimecontrol.inthischamfer,Newton-Euripidesmethodisusedinanalysisdynamicproblemof七hecleaningrobotandthearthrosisforceandtorquearegivenwhichprovidethefoundationforstepmotorselectingandstructuredynamicoptimalting.Controlsystemisthekeyandcorepartoftheobjectholdingmanipulatorsystemdesignwhichwilldirecteffectthereliabilityandpracticalityoftherobotsysteminthedivisionofconfigurationandcontrolfunctionandalsowilleffectorlimitthedevelopmentcostandcycle.WiththedemandofthePCL-839card,thePCcomputerwhichhasa.tightstructureandiseasytobeextendedisusedastheprincipalcomputercellandtakesthefunctionofsysteminitialization,dataoperationanddispose,stepmotordriveanderrordiagnoseandsoon.Atthesametime,theconfigurationstructurefeatures,taskprinciplesandthepositionfunctionwithhighprecisionofthecontrolcardPCL-839areanalyzed.Hardwareisthematterfoundationofthecontrol.Systemandthesoftwareisthespiritofthecontrolsystem.Thetargetofthesoftwareistocombineallthepartsinoptimizingstyleandtoimprovetheefficiencyandreliabilityofthecontrolsystem.Thesoftwaredesignoftheobjectholdingmanipulatorcontrolsystemisdividedintoseveralblockssuchassysteminitializationblock,dataprocessblockanderrorstationdetectanddisposemodelandsoon.PCL-839cardcansolvethecommunicationbetweenthemaincomputerandthecontrolcellsandtakethemeasureofreducingtheinfluenceoftheoutersignaltothecontrolsystem.Thestartandstopfrequencyofthestepmotorisfarlowerthanthemaximumrunningfrequency.Inordertoimprovetheefficiencyofthestepmotor,theincreaseanddecreaseofthespeedismustconsideredwhenthestepmotorrunninginhighspeedandstartorstopwithgreatacceleration.Theincreaseanddecreaseofthemotorsspeedcanbecontrolledbythepulsefrequencysenttothestepmotordrivewitharationalmethod.Thiscanbeimplementedeitherbyhardwareorbysoftware.Astepmotorshiftcontrolmethodisproposed,whichissimpletocalculate,easytorealizeandthetheorymeansisstraightforward.Themotorsaccelerationcanfitthetorque-frequencycurveproperlywiththismethod.Andtheamountofcalculationloadislessthanthelinearaccelerationshiftcontrolmethodandthemethodwhichisbasedontheexponentialruletochangespeed.Themethodistestedbyexperiment.In1997,TheJapancareerdevelopment(NASDA)emissiontechnologyexperimentSatelliteETS-VII(TheeTestSatellite),isTheearliestdemonstrationofon-orbitcapturetechnologyindependentverificationspacerobotsystem,asshowninfigure4.IntheETS-VIItrackingonaXiaoLiangastarofmechanicalarm.AsetofNASDAisdeveloped,thelengthofthe2mforsixdegreesoffreedomERAofmechanicalArmRobotArm(ETS)-VII,itcontainssingle-degree-of-freedom,attheendoftheactuatorisusedtocapturethestandardinterfaceunitcanbereplaced,threeendactuatoris120°inthesupportplatformontheperiphery,AnothersetofTongChanShengisdevelopedandAdvancedRoboticmanipulatorsARH(Hand),onARHby5dofofmechanicalarmandwiththree(thumbandforefingerandmiddlefinger,)ofmultisensorendactuators,threedexterousHandfingersthroughsportsorganizationofeachjoint,becauseonlyonepairofrotationofdexterousfingerswithbettersex,therefore,moredexterousHandreferstothemovementofrotation；deputyadoptManymeansofdexteroushandinhandcanincreasetheconstraint,thegrabobjectsandoperationoftheadaptabilityarequitegood,whileconsideringthedrivingcomponentsareadopted,thelayoutofthepalm,dexteroushandstructureofconcretestructuredependsonthepalmofthemotorandtransmissionoftheform.Mostcurrentdexteroushandusingelectricdrive,hydraulicpressuredriveandthewaythatonlyafewdexteroushandbytheshapememoryalloy(SMA)drive,piezoelectricdrivenandscalabilitypolymerdrivenewdrivetechnology.Duetotheelectricdrivemodehasconvenientcontrol,lowcost,maturetechnology,theadvantagesofdesignasthedcservomotordrivingcomponents.Transmissionsystemismoredexteroushandreferstothestructuredesign.Followthecordtransmissionwaytodriveprincipleandpeoplerealizethemovementandforceoflong-distancetransmission,cansatisfytherequirementsfingers.ThisdesignUSESaropeandpulley,thetransmissionwayofeachfingerjointslong-distancedrivingthreeandsixsoftcable.Threemultisensorend-effectorcontainingfivekindsofsensors,includingacamera,threeclosesensor,asoftsensor,asoftsensorandaforce/torquesensor,hashighreliabilityandindependentability.Handcanfinishfuel,replacebatteries,tightenthescrewsfloatingobjects,andloosenetc.Precisegrabandoperationaltasks.ETS-VIIon-orbitdemonstrationoftwoimportantduringtheexperiment,thetwofloatingobjectthroughthetestcapturemanipulatorendactuatorstocapture.Inordertocompletetheobjectofdifferentoperation,ETS-VIIendactuatordesignedthreeGPF(GRAPPLEwithtorqueFIXTURE)interface:thestandardinterfaceGPF-Sinterface,formostoftheload,includingORUvolitional:electricinterfaceofGPF-M(GPFMITI),mainlyforthemechanicalarminterfacewiththreemeansofcompleteconnection,dexteroushandoperation:usedforNALtrussstructureoftheoperationofGPF-N(GPFNAL)interface.ARHhandisonehalfofSemidexterousdexterity(hand)claws,threedegrees,bymixingfingersandflexiblereferstothesurface.Bymixingfingerincludesadcmotordrivesthetranslationoftwofingersandsteppingmotordrivenbytherotationofthefingers,basictargetfunction.GrabFlexiblereferstoareconfigurableformbythehand,inthesimilarstructuresurfacetoinstallafingertightneedlespringpressuregroups,theneedlecontentobjectsarrayswithsurfacerollingarray,strongabilitytoadapttotheobjectshapeofobjects,andtheconstraintisclosed,preventfromslidingintospaceobjects.Atlast,theresearchcontentandtheachievementaresumupandtheproblemsandshortagesinmainthecontentarealsolisted.Thedevelopmentandapplicationofrobotinthefutureisexpected.末端执行器技术末端执行器是典型的机电一体化装置，它综合运用了机械与精密机械、微电子与计算机、自动控制与驱动、传感器与信息处理以及人工智能等多学科的最新研究成果，随着经济的发展和各行各业对自动化程度要求的提高，机器人技术得到了迅速发展，出现了各种各样的机器人产品。机器人产品的实用化，既解决了许多单靠人力难以解决的实际问题，又促进了工业自动化的进程。目前，由于机器人的研制和开发涉及多方面的技术，系统结构复杂，开发和研制的成本普遍较高，在