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外文翻译--机器人控制和装配计划相结合的精密机械手.doc

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外文翻译--机器人控制和装配计划相结合的精密机械手.doc

徐州工程学院毕业设计外文翻译学生姓名学院名称机电工程学院专业名称机械设计制造及其自动化指导教师2011年5月27日COMBINATIONOFROBOTCONTROLANDASSEMBLYPLANNINGFORAPRECISIONMANIPULATOORABSTRACTTHISPAPERRESEARCHESHOWTOREALIZETHEAUTOMATICASSEMBLYOPERATIONONATWOFINGERPRECISIONMANIPULATORAMULTILAYERASSEMBLYSUPPORTSYSTEMISPROPOSEDATTHETASKPLANNINGLAYER,BASEDONTHECOMPUTERAIDEDDESIGNCADMODEL,THEASSEMBLYSEQUENCEISFIRSTGENERATED,ANDTHEINFORMATIONNECESSARYFORSKILLDECOMPOSITIONISALSODERIVEDTHEN,THEASSEMBLYSEQUENCEISDECOMPOSEDINTOROBOTSKILLSATTHESKILLDECOMPOSITIONLAYERTHESEGENERATEDSKILLSAREMANAGEDANDEXECUTEDATTHEROBOTCONTROLLAYEREXPERIMENTALRESULTSSHOWTHEFEASIBILITYANDEFFICIENCYOFTHEPROPOSEDSYSTEMKEYWORDSMANIPULATORASSEMBLYPLANNINGSKILLDECOMPOSITIONAUTOMATEDASSEMBLY1INTRODUCTIONOWINGTOTHEMICROELECTROMECHANICALSYSTEMSMEMSTECHNIQUES,MANYPRODUCTSAREBECOMINGVERYSMALLANDCOMPLEX,SUCHASMICROPHONES,MICROOPTICALCOMPONENTS,ANDMICROFLUIDICBIOMEDICALDEVICES,WHICHCREATESINCREASINGNEEDSFORTECHNOLOGIESANDSYSTEMSFORTHEAUTOMATEDPRECISIONASSEMBLYOFMINIATUREPARTSMANYEFFORTSAIMINGATSEMIAUTOMATEDORAUTOMATEDASSEMBLYHAVEBEENFOCUSEDONMICROASSEMBLYTECHNOLOGIESHOWEVER,MICROASSEMBLYTECHNIQUESOFHIGHFLEXIBILITY,EFFICIENCY,ANDRELIABILITYSTILLOPENTOFURTHERRESEARCHTHISPAPERRESEARCHESHOWTOREALIZETHEAUTOMATICASSEMBLYOPERATIONONATWOFINGERMICROMANIPULATORAMULTILAYERASSEMBLYSUPPORTSYSTEMISPROPOSEDAUTOMATICASSEMBLYISACOMPLEXPROBLEMWHICHMAYINVOLVEMANYDIFFERENTISSUES,SUCHASTASKPLANNING,ASSEMBLYSEQUENCESGENERATION,EXECUTION,ANDCONTROL,ETCITCANBESIMPLYDIVIDEDINTOTWOPHASES;THEASSEMBLYPLANNINGANDTHEROBOTCONTROLATTHEASSEMBLYPLANNINGPHASE,THEINFORMATIONNECESSARYFORASSEMBLYOPERATIONS,SUCHASTHEASSEMBLYSEQUENCE,ISGENERATEDATTHEROBOTCONTROLPHASE,THEROBOTISDRIVENBASEDONTHEINFORMATIONGENERATEDATTHEASSEMBLYPLANNINGPHASE,ANDTHEASSEMBLYOPERATIONSARECONDUCTEDSKILLPRIMITIVESCANWORKASTHEINTERFACEOFASSEMBLYPLANNINGTOROBOTCONTROLSEVERALROBOTSYSTEMSBASEDONSKILLPRIMITIVESHAVEBEENREPORTEDTHEBASICIDEABEHINDTHESESYSTEMSISTHEROBOTPROGRAMMINGROBOTMOVEMENTSARESPECIFIEDASSKILLPRIMITIVES,BASEDONWHICHTHEASSEMBLYTASKISMANUALLYCODEDINTOPROGRAMSWITHTHEPROGRAMS,THEROBOTISCONTROLLEDTOFULFILLASSEMBLYTASKSAUTOMATICALLYASKILLBASEDMICROMANIPULATIONSYSTEMHASBEENDEVELOPEDINTHEAUTHORS’LAB,ANDITCANREALIZEMANYMICROMANIPULATIONOPERATIONSINTHESYSTEM,THEASSEMBLYTASKISMANUALLYDISCOMPOSEDINTOSKILLSEQUENCESANDCOMPILEDINTOAFILEAFTERIMPORTINGTHEFILEINTOTHESYSTEM,THESYSTEMCANAUTOMATICALLYEXECUTETHEASSEMBLYTASKTHISPAPERATTEMPTSTOEXPLOREAUSERFRIENDLY,ANDATTHESAMETIMEEASY,SEQUENCEGENERATIONMETHOD,TORELIEVETHEBURDENOFMANUALLYPROGRAMMINGTHESKILLSEQUENCEITISANEFFECTIVEMETHODTODETERMINETHEASSEMBLYSEQUENCEFROMGEOMETRICCOMPUTERAIDEDDESIGNCADMODELSMANYAPPROACHESHAVEBEENPROPOSEDTHISPAPERAPPLIESASIMPLEAPPROACHTOGENERATETHEASSEMBLYSEQUENCEITISNOTINVOLVEDWITHTHELOWLEVELDATASTRUCTUREOFTHECADMODEL,ANDCANBEREALIZEDWITHTHEAPPLICATIONPROGRAMMINGINTERFACEAPIFUNCTIONSTHATMANYCOMMERCIALCADSOFTWAREPACKAGESPROVIDEINTHEPROPOSEDAPPROACH,ARELATIONSGRAPHAMONGDIFFERENTCOMPONENTSISFIRSTCONSTRUCTEDBYANALYZINGTHEASSEMBLYMODEL,ANDTHEN,POSSIBLESEQUENCESARESEARCHED,BASEDONTHEGRAPHACCORDINGTOCERTAINCRITERION,THEOPTIMALSEQUENCEISFINALLYOBTAINEDTODECOMPOSETHEASSEMBLYSEQUENCEINTOROBOTSKILLSEQUENCES,SOMEWORKSHAVEBEENREPORTEDINNNAJIETAL’SWORK,THEASSEMBLYTASKCOMMANDSAREEXPANDEDTOMOREDETAILEDCOMMANDS,WHICHCANBESEENASROBOTSKILLS,ACCORDINGTOAPREDEFINEDFORMATTHEDECOMPOSITIONAPPROACHOFMOSEMANNANDWAHLISBASEDONTHEANALYSISOFHYPERARCSOFAND/ORGRAPHSREPRESENTINGTHEAUTOMATICALLYGENERATEDASSEMBLYPLANSTHISPAPERPROPOSESAMETHODTOGUIDETHESKILLDECOMPOSITIONTHEASSEMBLYPROCESSESOFPARTSAREGROUPEDINTODIFFERENTPHASES,ANDPARTSAREATDIFFERENTSTATESSPECIFICWORKFLOWSPUSHFORWARDPARTSFROMONESTATETOANOTHERSTATEEACHWORKFLOWISASSOCIATEDWITHASKILLGENERATORACCORDINGTOTHEDIFFERENTSTARTSTATEANDTARGETSTATEOFTHEWORKFLOW,THESKILLGENERATORCREATESASERIESOFSKILLSTHATCANPROMOTETHEPARTTOITSTARGETSTATETHEHIERARCHYOFTHESYSTEMPROPOSEDHERE,THEASSEMBLYINFORMATIONONHOWTOASSEMBLEAPRODUCTISTRANSFERREDTOTHEROBOTTHROUGHMULTIPLELAYERSTHETOPLAYERISFORTHEASSEMBLYTASKPLANNINGTHEINFORMATIONNEEDEDFORTHETASKPLANNINGANDSKILLGENERATIONAREEXTRACTEDFROMTHECADMODELANDARESAVEDINTHEDATABASEBASEDONTHECADMODEL,THEASSEMBLYTASKSEQUENCESAREGENERATEDATTHESKILLDECOMPOSITIONLAYER,TASKSAREDECOMPOSEDINTOSKILLSEQUENCESTHEGENERATEDSKILLSAREMANAGEDANDEXECUTEDATTHEROBOTCONTROLLAYER2TASKPLANNINGSKILLSARENOTUSEDDIRECTLYATTHEASSEMBLYPLANNINGPHASEINSTEAD,THECONCEPTOFATASKISUSEDATASKCANFULFILLASERIESOFASSEMBLYOPERATIONS,FOREXAMPLE,FROMLOCATINGAPART,THROUGHMOVINGTHEPART,TOFIXINGITWITHANOTHERPARTINOTHERWORDS,ONETASKINCLUDESMANYFUNCTIONSTHATMAYBEFULFILLEDBYSEVERALDIFFERENTSKILLSATASKISDEFINEDAST(BASEPART;ASSEMBLYPART;OPERATION)BASE_PARTANDASSEMBLY_PARTARETWOPARTSTHATAREASSEMBLEDTOGETHERBASE_PARTISFIXEDONTHEWORKTABLE,WHILEASSEMBLY_PARTISHANDLEDBYROBOT’SENDEFFECTORANDASSEMBLEDONTOTHEBASE_PARTOPERATIONDESCRIBESHOWTHEASSEMBLY_PARTISASSEMBLEDWITHTHEBASE_PART;OPERATION∈{INSERTION_T,SCREW_T,ALIGN_T,}THESTRUCTUREOFMICROPARTSISUSUALLYUNCOMPLICATED,ANDTHEYCANBEMODELEDBYTHECONSTRUCTIVESOLIDGEOMETRYCSGMETHODCU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