已阅读5页,还剩1页未读, 继续免费阅读
版权说明:本文档由用户提供并上传,收益归属内容提供方,若内容存在侵权,请进行举报或认领
文档简介
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.Thischamfer,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,threeendactuatoris120inthesupportplatformontheperiphery,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)interfa
温馨提示
- 1. 本站所有资源如无特殊说明,都需要本地电脑安装OFFICE2007和PDF阅读器。图纸软件为CAD,CAXA,PROE,UG,SolidWorks等.压缩文件请下载最新的WinRAR软件解压。
- 2. 本站的文档不包含任何第三方提供的附件图纸等,如果需要附件,请联系上传者。文件的所有权益归上传用户所有。
- 3. 本站RAR压缩包中若带图纸,网页内容里面会有图纸预览,若没有图纸预览就没有图纸。
- 4. 未经权益所有人同意不得将文件中的内容挪作商业或盈利用途。
- 5. 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,对用户上传分享的文档内容本身不做任何修改或编辑,并不能对任何下载内容负责。
- 6. 下载文件中如有侵权或不适当内容,请与我们联系,我们立即纠正。
- 7. 本站不保证下载资源的准确性、安全性和完整性, 同时也不承担用户因使用这些下载资源对自己和他人造成任何形式的伤害或损失。
最新文档
- 进修中医内科出科个人小结
- 运输行业比较分析
- 运动损伤康复科室出科小结
- 初级工作总结
- 关于激励干部担当作为的思考
- 世界粮食日宣传活动方案
- 软件行业单位分析
- 关于宠物清洁行业规范化发展的思考
- 轮毂行业SWOT分析
- 关于春节期间禁毒宣传教育活动方案
- 菌种的分离纯化技术——平板划线法
- 物业管理全套工作流程图
- 财务会计10001
- S314道路新建平交道口安全评价报告
- 隧道管理组织架构及职责分工
- Processist生产型企业流程框架
- 论刑法第385条与第388条客观要件之区别
- 巧用多媒体唤醒写作素材
- 人工水磨钻挖孔桩施工方案(完整版)
- 清溪第一小学英语教研组建设主要亮点
- 中国急性缺血性脑卒中诊治指南.ppt
评论
0/150
提交评论