外文翻译---一种简易足式移动机器人.docx

英文资料One kind of simple foot -like migration robotRobot is a type of mechantronics equipment which synthesizes the last research achievement of engine and precision engine, micro-electronics and computer, automation control and drive, sensor and message dispose and artificial intelligence and so on. With the development of economic and the demand for automation control, robot technology is developed quickly and all types of the robots products are come into being. The practicality use of robot products not only solves the problems which are difficult to operate for human being, but also advances the industrial automation program. At present, the research and development of robot involves several kinds of technology and the robot system configuration is so complex that the cost at large is high which to a certain extent limit the robot abroad use. To development economic practicality and high reliability robot system will be value to robot social application and economy development.With the analysis of the problems in the design of the plastic holding manipulator and synthesizing the robot research and development condition in recent years, a economic scheme is concluded on the basis of the analysis of mechanical configuration, transform system, drive device and control system and guided by the idea of the characteristic and complex of mechanical configuration, electronic, software and hardware. In this article, the mechanical configuration combines the character of direction coordinate and the arthritis coordinate which can improve the stability and operation flexibility of the system. The main function of the transmission mechanism is to transmit power to implement department and complete the necessary movement. In this transmission structure, the screw transmission mechanism transmits the rotary motion into linear motion. Worm gear can give vary transmission ratio. Both of the transmission mechanisms have a characteristic of compact structure. The design of drive system often is limited by the environment condition and the factor of cost and technical lever. The step motor can receive digital signal directly and has the ability to response outer environment immediately and has no accumulation error, which often is used in driving system. In this driving system, open-loop control system is composed of stepping motor, which can satisfy the demand not only for control precision but also for the target of economic and practicality. On this basis，the analysis of stepping motor in power calculating and style selecting is also given.The walk organization because it is opposite to the ordinary wheeled organization has many unique superiority, obtains the widespread application in more special domains. At present unceasingly appears on he market by the new multi- groups walk organization, their mostly intellectualization degree higher, the organization and the control is complex.The people frequently must draw support to the walk organization research to animals careful observation and the movement mechanism analysis. We note, insect when smooth unimpeded terrain surface barrel, are many by in turn triangle gait movement, namely six feet will divide into two groups, the bodily later around foot and the opposite side center fully respectively took a group, will form a stable triangle strut. Two groups of legs in turn swinging with strut ,realization insects quick movement. This article proposed the simple foot -like robot has 6 struts feet, imitated the insect to walk the gait, could go forward, the backlash on the flat land, about the curve, when met the barrier could voluntarily avoid.1 organization analysisDesigning starts with a need, real or imagined. Existing apparatus may need improvements in durability, efficiently, weight, speed, or cost. New apparatus may be needed to perform a function previously done by men, such as computation, assembly, or servicing. With the objective wholly or partly defined, the next step in design is the conception of mechanisms and their arrangements that will perform the needed functions. For this, freehand sketching is of great value, not only as a record of ones thoughts and as an aid in discussion with others, but particularly for communication with ones own mind, as a stimulant for creative ideas.When the general shape and a few dimensions of the several components become apparent, analysis can begin in earnest. The analysis will have as its objective satisfactory or superior performance, plus safety and durability with minimum weight, and a competitive cost. Optimum proportions and dimensions will be sought for each critically loaded section, together with a balance between the strength of the several components. Materials and their treatment will be chosen. These important objectives can be attained only by analysis based upon the principles of mechanics, such as those of states for reaction forces and for the optimum utilization of frication; of dynamics for inertia, acceleration, and energy; of elasticity and strength of materials for stress and deflection; and of fluid mechanics for lubrication and hydrodynamic drives.Finally, a design based upon function and reliability will be completed, and a prototype may be built. If its tests are satisfactory, and if the device is to produced in quantity, the initial design will undergo certain modifications that enable it to be manufactured in quantity at a lower cost. During subsequent years of manufacture and service, the design is likely to undergo changes as new ideas are conceived or as further analysis based upon tests and experience indicate alterations .Sales appeal, customer satisfaction, and manufacture cost are all related to design, and ability in design is intimately involved in the success of an engineering venture.1.1 overall constructions design Overall constructions design shows is six feet shifting mechanism overall construction diagram. This organization structure simpler, because the torso are partial and six feet, the tension bar and the direct current electric motor compositions. If the race 1 and 3 connects by tension bar a; The foot 4 and the foot 6 by the tension bar f connection, they may circle on the torso respective axle center to swing the certain angle in the horizontal plane; The foot 2 and the foot 5 also by the tension bar connection, may circle on the torso the axle center to swing the certain angle in the vertical plane. Thus, the foot 1 and the foot 3as well as tension bar a and the body form a plane parallel four link motion gear; The foot 4 and the foot 6 as well as tension bar f and the body form another plane parallel four link motion gear. This six feet shifting mechanism uses three sets of motor-drivens, set of motor-driven foot 1 and the foot 3, the second set of motor-driven foot 4 and the foot 6, the third set of motor-driven actuation foot 2and the foot 5, the relatively former each kind of walk organization ,this organization main characteristic is: Structure simple, gait novel, the control is easy to realize. Separately actuates three sets of electrical machinery movements to be allowed to realize the organization to walk in the ground by the different gait, function and so on realization advance, backlash, curve.1.2 gaits designsThe walk organization walks the way to divide into the static state to walk dynamically with walks two kinds. The static state walks the way is refers to the walk organization while to walk in the process throughout to have three above the foot; The tendency walks the way is refers to except for this other to walk the way. More accurate saying ,the static state walks is refers to the walk organization in to walk in the process, its center of gravity always is in the stable strut plane. The strut plane is refers supports the polygon which between the foot composes. In order to obtain a better stability, this article designs divides into six feet two groups, after a bodily side front foot, the foot and another side center fully took a group, forms as table triangle strut. Two groups of fully in turn swinging with strut, realization organization migration.Theoretically says, six full organizations may supply the choice the gait to be more, but also should follow the general criterion: (1)chooses the gait to be supposed to conform to the animal to walk the custom. The experience and the theoretical analysis indicated that, the animal walks the way is in the nature most reasonable, these walk the way not only to be able to cause the walk organization to be balanced, moreover can cause the energy decrement which consumes to the lowest degree. (2) chooses the gait to be supposed to cause the control as far as possible simplicity, walks differently with the animal, the walk organization walks must join by the artificial control, if chooses in the gait existence control the difficulty even with difficulty to realize, the obvious significance is not big. The synthesis considered these two criteria as well as the organization whole constitution, walks the gait to the organization to make the following plan.1.2.1 advances walks the gaitTime six full organizations advances walks the gait like chart1-1 to show. After six full organizations start the movement, the first step, the foot 2 and the foot 5 swings an angle, causes left side of the body to lift, the foot 1, the foot 3 and the foot 5 is hanging, thefoot 2, the foot 4 and foot 6, and form a triangle to support the region. If walks in the process, this organization center of gravity throughout is located in this triangle, then six full organizations are at the steady state, as for does not throw down. The second step ,wears the place the foot 4 and the foot 6 relative bodies swings the certain angle to after, realizes the body relative ground to the front first step of migration. The third step, the hanging foot 1 and the foot 3 swings an angle to front. The fourth step, the foot 2 and the foot 5 reversed directions swing an angle, causes right flank the body to lift, the foot 2, the foot 4 and the foot 6 is hanging, foot 1, foot 3 and foot 5. The fifth step, wears the place the foot 1 and the foot 3 relative bodies swings an angle to after, realizes the body relative ground to the front second step of migration. The sixth step, the hanging foot 4 and the foot 6 relative bodies swing an angle to front. So (a) - (b) - (c) - (d) - (e) - (f) - (a) moves back and forth the circulation. Time the backlash gait analogizes in turn.Chart1-1 six full organizations advances walk the gait like chartThe chart has simulated this six full organizations advance continual motion gait from the position. May see, this organization walks the direction certainly is not a straight line, if first steps the right leg then organization finally to left displacement. Moreover, afte rthe organization steps out first step, the entire torso and the original position can form an included angle psi, the organization forward travel distance is m. After steps out second step, the organization posture returns to the home position, the forward travel distance is n, to the left displacement distance is s.1.2.2 curves walks the gaitThe chart is six full organizations counterclockwise time walks the gait like chart1-2 to show. After six full organizations start the movement, the first step ,the foot 2 and the foot 5 swings an angle, causes left side of the body to lift, the foot 1, the foot 3 and the foot 5 is hanging, the foot 2, the foot 4 and foot 6, and form a triangle to support the region. The second step, wears the place the foot 4 and the foot 6relative bodies swings the certain angle to after, realizes the body relative ground to the front first step of rotation. Like the chart shows, this time on a body position posture relative posture has rotated an angle alpha. The third step, the hanging foot 1 and the foot 3 relative bodies swing the certain angle to after. The fourth step, the foot 2 and the foot 5 reversed directions swing an angle, realizes the body relative ground to the front second step of rotation. Like the chart shows this time body on a position posture relative posture to rotate an angle. The hanging foot 4 and the foot6 relative bodies swing an angle to front. So (a) - (b) - (c) - (d) -(e) - (f) - (a) moves back and forth the circulation, then may realize six full organizations to left to move. The right extension to the order analogizes.Contains 6 steps in the entire cycle, a cycle may realize the organization to rotate 2 alpha angles. Chart1-2 six full organizations counterclockwise time walks the gait like chart1.3 stable analysesSimply uses the steady constant angle evaluates when the walk organization the stability to be bright. First carries on the following definition:(1) supports the territory the polygon which is composed by between the constitution strut graph strut foot, these segments are called the strut territory the strut boundary(2) supports the boundary the steady constant angle theta to refer to the walk organization machine physique heart to have the plane with this boundary with the angle which this boundary is vertical becomes. After before first, left, the right stable angle separately corresponds, is left, right side the vertical direction include dangle. Any strut territory steady constant angle is equal to in this territory all struts boundary steady constant angle minimum value. The walk organization is whether stable may use the steady constant angle to judge: (1) 0 the walk organization is at the static steady state; (2) =0 , the walk organization is at the critical static steady state; (3) 0, the walk organization static state is unstable.2 control systemsWhen the insect walks, around the foot swings to front, about the middle two feet swings. The system should be able to examine various full position in active status any time, in this organization uses the model ship direct current servo electrical machinery. In the potentiometer sets in the model ship electrical machinery gear box the potentiometer rotation axis and the electrical machinery output shaft is coaxial.When the system brings the power source, the work, the monolithic integrated circuit according to the procedure which establishes inadvance controls the electrical machinery revolving. When revolves, the potentiometer skids the end voltage also along with it change, this voltage is introduced monolithic integrated circuit the AD transformation unit, after the a/d conversion is a digital quantity. In the procedure may establish this digital quantity on lower limit to control the electrical machinery the limiting position which revolves to two directions. The sensor also includes two limit switches and are flection type infrared sensor, the limit switch may regard as this six full organizations the antenna, when this antenna bumps into the obstacle, can trigger a pulse, causes the monolithic integrated circuit to have the severance, carries out the corresponding interrupt service isr; The reflection type infrared sensor also is the similar use, does not only need to contact the friction object. The signal situation thus which this organization may according to establish the procedure and the sensor which accepts independently to walk in advance.Control system is the key and core part of the object holding manipulator system design which will direct effect the reliability and practicality of the robot system in the division of configuration and control function and also will effect or limit the development cost and cycle. With the demand of the PCL-839 card, the PC computer which has a. tight structure and is easy to be extended is used as the principal computer cell and takes the function of system initialization, data operation and dispose, step motor drive and error diagnose and so on. A t the same time, the configuration structure features, task principles and the position function with high precision of the control card PCL-839 are analyzed. Hardware is the matter foundation of the control. System and the software is the spirit of the control system. The target of the software is to combine all the parts in optimizing style and to improve the efficiency and reliability of the control system. The software design of the object holding manipulator control system is divided into several blocks such as system initialization block, data process block and error station detect and dispose model and so on. PCL-839 card can solve the communication between the main computer and the control cells and take the measure of reducing the influence of the outer signal to the control system.3 experimentsStates the principle and the design proposal according to front ,manufactured six feet to move the robot the prototype, its basic organization size was: The torso adds on antenna total length 290mm;Extends 230mm; High 110mm. This prototype brings the power source, thesignal situation which according to establishes the procedure and thesensor which accept independently to walk in advance. To the prototypical test result demonstrated six full robots may steadilywalk in the hard ground, voluntarily avoids the barrier.The analysis of kinematics and dynamics for object holding manipulator is given in completing the design of mechanical structure and drive system. Kinematics analysis is the basis of path programming and track control. The positive and reverse analysis of manipulator gives the relationship between manipulator space and drive space in position and speed. The relationship between manipulators tip position and arthrosis angles is concluded by coordinate transform method. The geometry method is used in solving inverse kinematics problem and the result will provide theory evidence for control system. The f0unction of dynamics is to get the relationship between the movement and force and the target is