外文翻译--一个平行爪机械手的合规性效应 英文版.pdf
ROBOTSGRASPANDMANIPULATEOBJECTSWITHTHEAIDOFAGRIPPERUSUALLYTHEOBJECTISPRESENTEDCOMPLIANCECANBEINTRODUCEDTOTHEROBOTBYUSINGACOMPLIANTENDEffECTORORGRIPPERTHISCANBEDONEINDIffERENTWAYSINLITERATUREAVARIETYOFSUBJECTSONGRIPPERCOMPLIANCECANBEFOUND1,3,4,THESEAREMAINLYFOCUSSEDONCONTROLTHEORIESFORUNIVERSALGRIPPERSANDfiNEMECHANISMANDMACHINETHEORY3820031509–1522CORRESPONDINGAUTHORTEL31152783130；FAX31152781397ATAPREDEfiNEDPICKUPLOCATIONWHERETHEROBOTCANGRASPANDMOVEITTOANOTHERPREDEfiNEDLOCATIONDIffiCULTIESARISEWHENTHEPICKUPLOCATIONANDDESTINATIONAREPARTOFAHEAVYRIGIDBODYTHATCANMOVEDUETOEXTERNALDISTURBANCESIFTHEROBOTCANNOTADAPTTOTHISMOVEMENTDURINGPICKUPORRELEASE,THEFULLFORCEOFTHEMOVEMENTWILLBETRANSFERREDINTOTHEROBOTC213SCOMPONENTS,WHICHCANRESULTINDAMAGETHEREFORETHEROBOTSHOULDBEflEXIBLEORCOMPLIANTWHERETHEENVIRONMENTISSTIff3COMPLIANCEEffECTSINAPARALLELJAWGRIPPERAJGNUTTALL,AJKLEINBRETELERFACULTYOFDESIGN,CONSTRUCTIONANDPRODUCTION,DEPARTMENTOFTRANSPORTATIONTECHNOLOGY,UNIVERSITYOFTECHNOLOGYDELFT,MEKELWEG2,2628CDDELFT,THEN
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