会员注册 | 登录 | 微信快捷登录 支付宝快捷登录 QQ登录 微博登录 | 帮助中心 人人文库renrendoc.com美如初恋!
站内搜索 百度文库

热门搜索: 直缝焊接机 矿井提升机 循环球式转向器图纸 机器人手爪发展史 管道机器人dwg 动平衡试验台设计

   首页 人人文库网 > 资源分类 > PDF文档下载

外文翻译--工业机械手夹具的运动合成一种创造性的设计方法 英文版.pdf

  • 资源星级:
  • 资源大小:367.93KB   全文页数:7页
  • 资源格式: PDF        下载权限:注册会员/VIP会员
您还没有登陆,请先登录。登陆后即可下载此文档。
  合作网站登录: 微信快捷登录 支付宝快捷登录   QQ登录   微博登录
友情提示
2:本站资源不支持迅雷下载,请使用浏览器直接下载(不支持QQ浏览器)
3:本站资源下载后的文档和图纸-无水印,预览文档经过压缩,下载后原文更清晰   

外文翻译--工业机械手夹具的运动合成一种创造性的设计方法 英文版.pdf

257EndEffectsKinematicSynthesisofIndustrialRobotHand/GripperACreativeDesignApproachJayLeeUnitedStatesPostalService,OfficeofAdvancedTechnology,475LEnfantPlazaS.W.,Rm2140,WashingtonDC202608120,U.S.A.Thepurposeofthisresearchistosynthesizeindustrialrobothandmechanisms.InvestigationsonDOFF,complexityandthestructureGraphwillbepresented.Therefore,akinematicstructuretableofrobothandmechanismscanbegenerated.TheadvantagesofusingthisreferencetableareasfollowsIdentificationofthekinematicstructureofrobothandmechanismsforrobothandstandardization.Theatlasofgraphstructurecanbeusedtoenumeratenewrobothandmechanisms.Leadstocreationorinventionofnewrobothandmechanismsaccordingtotheseparationofstructureandfunction.Thispaperwillpresentacreativedesignapproachindesigningindustrialrobothand/grippermechanisms.ThisresearchworkwasconductedwhiletheauthorwasatColumbiaUniversity.KeywordsKinematics,Grippers,Handmechanisms.1.IntroductionRobotichand/gripperistheintegralpartinmostoftheroboticapplications.Marketstudypredictedthattherewillbeover60roboticapplicationsinassemblyandmaterialhandling\1\.Designoftheroboticgrippingmechanismalwaysbecomesthekeyelementfortheentitledproject.Often,verylittletimeisspentinoptimalkinematicstructuretopologydesignintheearlystagesofadesignprocess.Timepressuressometimesforceengineerstorepeattopologiesthathaveworkedinsimilarapplicationsinthepast,ratherthantrytocreatebetterdesigns\2\.Chen\3\presentedacompletesurveyofmechanismsusedforgrippersforindustrialrobots.Erdmanetal.\2\suggestedtechniquesoftypesynthesisbasedongraphtheoryandexpertsystems.Someextensiveworkincreatingdatabaseforrobotichandgrippersmechanismhasbeendonebytheauthor\8\.ThispaperwillpresentacreativedesignapMr.JayLeeisprogramdirectorinmaterialhandlingresearchfortheOfficeofAdvancedTechnologyofUnitedStatesPostalService.HereceivedhisB.S.fromTaiwanandholdsanM.S.degreeinMechanicalEngineeringfromtheUniversityofWisconsinMadisonandanM.S.inIndustrialManagementfromStateUniversityofNewYorkatStonyBrook.HeiscurrentlyadoctoralcandidateinMechanicalEngineeringatUniversityofMaryland.HehasservedasaparttimelecturerfortheStateUniversityofNewYorkatStonyBrook,forthePolytechnicsUniversityandasadjunctassistantprofessorfortheNewYorkInstituteofTechnology.HeformerlyservedasaprogrammanagerindevelopinghighprecisionandhighspeedrobotictechnologiesforAnoradCorp.Hauppauge,NY.BeforeAnorad,hewasaNorthHollandseniormechanicalengineerandgroupleaderindevelopingvisionguidedrobotictechnologiesforRoboticVisionSystems,Robotics41988257263Inc.alsoinHauppauge,NewYork.09218830/88/3.50©1988,ElsevierSciencePublishersB.V.NorthHolland258J.Lee/KinematicSynthesisofIndustrialRobotHandGripperproachindesigningindustrialrobothand/grippermechanism.Thedevelopmentofthekinematicstructureofrobothand/grippermechanismswillalsobepresented.2.OverviewoflnduslrialRobotHandGripperMechanism1312Vacuumandmagnetictypethisclassincludesthreefittedwithsuctioncuporelectromagnets.3Specialhandandgripperthisclassconsistsofinflatablefinger,paperpickinggripper.Inthispaper,wewillinvestigatemechanicalfingertypebecausemostindustrialrobothand/grippermechanismsfallintothiscategory.Ingeneral,gripperscanbeclassifiedaccordingtothefollowing1MechanicalfingertypeAccordingtothenumberoffingersinagripper,wehavei2fingertypeii3fingertypeiiimultifingertype.Accordingtothenumberofhandsmountedonthewristoftherobotarmwehaveisinglegripperiidualgripperiiimultiplegripperindextype.Accordingtothepartconfiguration,wehaveilinearmotiongripperparalleriiangularmotiongripper.Accordingtothekinematicstructure,wehaveilinkagetypeiigearandracktypeiiicamtypeivscrewtypevropeandpulleytypeMIT/UXAnhand,Hitachihand.2.1.KinematicSynthesisofRobotHandGripperMechanismMechanismcreationbasedontheseparationofstructurefromfunctionwasproposedbyFreudenstein\47\.Kinematicstructurecanbeenumeratedinanessentiallysystematic,unbiasedfashionasafunctionofthedegreeoffreedomofthemechanism,thenaturalofthedesiredmotionandaparameterrepresentinganindicationofthecomplexityofthemechanism.Eachstructureobtainedinthiswaycanthenbesketchedandevaluatedwithrespecttothefunctionalrequirementsofthemechanism.Potentiallyacceptablemechanismscanthenbeevaluatedindepthuntilafinaldesignisachieved.MostmechanismsobeythefollowinggeneraldegreeoffreedomequationFLj1EL1whereFdegreeoffreedomofmechanismDegreeofKinematicFreedomfElementCommentsHelicalPairH12GearPairG1__TurningPairRISlidingPairP4BallinCylinderFig.1.Commonusedkinematicelementsinrobothand/grippermechanism.J.Lee/KinematicSynthesisofIndustrialRobotHand/GripperTable1Correspondencebetweengraphandmechanism259MechanismLinks£JointsjJoinedLinksDifferentJointsGroundedElementSameMechanismsDifferentMechanismsIndependentLoopsGraphVerticesvEdgeseEdgeconnectedverticesLabeledEdgesRPinJointPSlidingJointGGearJointHHelicalJointFixedLinkIsomorphicGraphsNoniscmorphicGraphsIndependentLoopsSymbolRpGH®LINDhmobilitynumberdegreeoffreedominwhichmechanismoperates,3forplaneandsphericalmotionsh6forgeneralthreedimensionalmotions,Lnumberoflinks,jnumberofjoints,andf,degreeoffreedomofrelativemotionatithjoint.Intermsofthegraphofthemechanism,Equation1maybewrittenasrx0e12wherevnumberofverticesofgraphvLandenumberofedgesofgraphej.LINDjL13LINDNumberofindependentloopsinthemechanismcombining1and3El/rLIND4Forgeartrainsitcanbeshown\7\thattheseequationsspecializetothefollowingLF1LINDjF2LINDJcLINDJRFLINDwhereJc,JRdenotethenumberofgearpairsandpinjoints.Mostrobothandsgrippersareopenloopmechanismswhosestructuresaregenerallysimplerthanthoseofcloseloopmechanisms.The\166RRRI4pR,R3R4bcFig.2,Typicalrobothandmechanismandgraph.260J.Lee/KinematicSynthesisofIndustrialRobotHand/GripperNOVe1R./I5P2P3IR4245oGcx,G23345R231456KINEMATICROBOTHANDSTRUCTUREMECHANISMRR3R41.iC2i14NOVe556667767KINEMATICSTRUCTURERRR.R413R4R34ROBOTHAND,MECHANISM4Fig.3.Kinematicstructureofrobothandmechanisms.mostcommonjointsinrobothandsgrippersmechanismsaretheturningpairsorpinjointsR,theslidingpairP,gearpairsG,helicalpairsorscrewandnutHseeFig.1.Table1showsthecorrespondencebetweengraphsandmechanisms.ThegraphrepresentationofatypicalrobothandmechanismisshowninFig.2.ThedegreeoffreedomFandcomplexityLINDcanbeillustratedbyuseofexamplefromFig.2.NumberoflinksL6Numberofjointsj7EfRReRRRR7X3planemechanismThereforeF3Lj1EL367171ThenumberofclosedloopsinthismechanismisaLINDjL17612Thisshouldbeequaltotheresultfromthegraphb.FromTable1weknowthatthenumberofedgeseinthegraphisequaltothenumberoflinksinthemechanism.Thenumberofverticesointhegraphisequaltothenumberofjointsjinthemechanism.

注意事项

本文(外文翻译--工业机械手夹具的运动合成一种创造性的设计方法 英文版.pdf)为本站会员(英文资料库)主动上传,人人文库网仅提供信息存储空间,仅对用户上传内容的表现方式做保护处理,对上载内容本身不做任何修改或编辑。 若此文所含内容侵犯了您的版权或隐私,请立即通知人人文库网([email protected]),我们立即给予删除!

温馨提示:如果因为网速或其他原因下载失败请重新下载,重复下载不扣分。

copyright@ 2015-2017 人人文库网网站版权所有
苏ICP备12009002号-5