外文翻译非组装机制可控气动机器人新颖的设计和三维印刷

NovelDesignand3-DPrintingofNonassemblyControllablePneumaticRobotsAbstract—Additivemanufacturing(knownas3-Dprint-ingtothepublic)technologiesarecapableoffabricatingmechanicalpartswithoutthelimitationofgeometriccomplexity.Ifproperlydesigned,amechanismcanalsobeautomaticallyfabricatedwithouttheneedofassembly.Consideringthesecapabilitiesof3-Dprinting,thispaperpresentsanovelpneumaticrobotdesignthatcanbefabricatedby3-Dprintingprocesseswithouttheneedofassembly.Thekeyelementoftheproposedrobotistheinnovativedesignofapneumaticsteppermotorthatallowscontrolofmultimotionpatternmodes.Theproposedpneumaticstepperdesignisbasedonafanmotor,thus,havingalowrequirementonairtightness,whichmakesitpossiblefor3-Dprintingfabrication.Forangularmotioncontrol,arollervalveisaddedtothefanmotordesign.Bycontrollingtheairpressureoftherollervalve,continuousmotionandsteppingmotioncanbeobtained.Experimentshaveshownthattheangularvelocitycanalsobecontrolledbyvaryingtheroller-valveairpressure.Theeffectivenessoftheproposedconceptshasbeendemonstratedbya3-Dprintednonassemblypneumaticrobot.Theprintedrobot,whenconnectedwithairtubesandapneumaticcontroller,canperformsimplepickandplaceoperations.Itisarguedthatthefuturefunctionalnonassemblypneumaticroboticsystemscouldbe3-Dprintedforrelevantindustries.Neumaticactuationiswidelyusedinindustrialapplicationforitslowcost,compactsize,highpowertoweightratio,reliabilityandsecurity.Insomecases,pneumaticactuationisevenpreferabletoelectricones,especiallyinmedicalapplications,suchasmagneticresonancemedicalimagingequipmentandhigh-riskenvironmentslikeinflammablegasvesselsorpipes.Someclassicpneumaticactuatious,rotaryorlinear,havebeenfullydeveloped.However,suchclassicactuationshavehighrequirementonairimpermeabilityandprecisionoffabricationandassembly,whichincreasetheproductiontimeandcost.Inaddition,theerrorresultedfromfabricationandassemblyprocessmayleadtoareducedprecisionincontrolled.Oneofthekeypneumaticactuatorsinpneumaticsystemsisthepneumaticsteppermotor.Recentefforthasbeenconcentratingondevelopingmoreaccuratepneumaticsteppingmotors,orsteppermotorthatiscomplianttomagneticresonanceimaging(MRI)environment.Fromtheliterature,fourtypesofpneumaticsteppermotorshavebeenproposed.Stoianovicietal.,developedaMRIcompliantsteppermotorcalledPneuStep,whoseresultingstepsizecouldreach3.33°(angular)and0.055mm(linear).TheworkingprincipleofPneuStep.Themainstructuresarecomposedofthreediaphragmcylinders,asetofinternalgears,andoutputcranks.Theringgearisfixed,whiletheoutergearisconnectedtoanoutputshaft.Themotorisabletoactinsteppermodebysequentiallyactuatingthethreediaphragmcylinders.anothertypeofsteppermotordevelopedbyMasamuneetal.Themotoriscomposedofthreepistonswithintheirrespectivesyringesandtwotypesofgears:arotationalgearandthreedirectactinggears.Thereisacertainstaggeranglebe-tweentherotationalgearandthedirectactinggear.Everytimetheactinggearmovesupandcontactstherotationalgear,therotationalgearwillrotateacertainstepperangletocouplewiththeactinggear.Therefore,themotorcouldconstantlyoutputsteppermotionbysequencedcooperationofthethreeactinggears.ThestepperdevelopedbyChenetal.adoptssimilarprinciples,buthasthesmallestsizeamongallthesepneumaticsteppermotorswithonly10mmindiameter.However,thesereportedsteppingmotorsrelyoneithertheintermeshinginter-actionofdifferentsetsofgears,orthecooperationofthelinearmotionofpistoncrankandlinkagemechanismtorealizethesteppingmotion,whichrequiresprecisionmanufacturingandassembly.AnothernoveldesignproposedbyChenetal.referstotheprincipleoftwostrokeengine.Theuseofcranktransformsthelinearmotionofthetwocoupledpistonstorotationalmotionoftheoutputshaft.Theactuationsystemcanrotate3.6◦ineachstep.Comparedwiththepreviousdesigns,thisconceptgreatlysimplifiestheworkingprincipleandmechanicaldesignofconventionalpneumaticsteppermotor.However,themaindisadvantageofthesesteppingmotorsisspeeddiscontinuityandvibration.Inmanycases,itisdesirableifamotorcanswitchmotionpatternsbetweencontinuousmodeandsteppingmode.ThelatestdesignproposedbyChenetal.isabletooutputcontinuousrotationaccordingtoitsworkingprinciple,whichissimilartoavehicleengine.Butitrequiresaprecisecontrolonthecooperationoftwopistonsandthedesignisquitecomplicated.Anunsuccessfulcontrolstrategymayresultinaverylargetorsionaltorqueonthecrankwhichmaycausegreatdamage.Alltheabovesteppermotordesignshavecomplexmechanisms,makingthemunsuitablefor3-Dprinting.Additivemanufacturing,knownas3-Dprintingtothepublic,isafabricationmethodwherephysicalobjectsareconstructedlayerbylayer,Asopposedtoconventionalmethod,3-Dprintingcanfabricatepartsandmechanismsdirectlyfromthecomputer-aideddesignmodel,regardlessoftheshapecomplexity.Duetothisproperty,3-Dprintingtechnologiescangreatlyshortentheproductdesigncircle,savetimeandcost,andprovideaccesstoearlyverificationofproductdesigns,.Intraditionalmanufacturingprocesses,individualpartshavetobefabricatedfirst,andthen,assembledintofinalmechanismswhicharetimeandmoneyconsuming.Moreover,theassemblyprocessrequireshighaccuracy.Otherwise,thefinalmechanismcaneasilygetstuckandfailtoworkduetoinappropriatepositionsandmatch-upofmoveableparts.Onthecontrary,3-Dprintingallowsone-stepfabricationofcomplexmechanisms,suchasmultilinksandmultiarticulatedmechanismswithouttheneedofanyassemblyofcomponents.Ithasagreatpotentialtochangethewayhowmechanismsandroboticsystemsarecurrentlydesignedandbuilt.Three-Dimensionalprintingofnonassemblymechanismsandroboticsystemshasbeenresearchedforquitealongtime.Manydifferent3-Dprintingprocessesareappliedtofabricateroboticmechanisms.FuseddepositionmodelingwasusedbyGosselinetal.,tobuildseveralmechanisms,suchasparallelmanipulator.Theserapidlyprintedmechanismsrequiredfurtherassemblyofmechanismparts.Cutkoskyetal.,atStanfordUniversityusedshapedepositionmanufacturing,todevelopaflexiblejointwithembeddedcomponents.Thesecomponentswereinsertedtothemechanismduringitsfabricationasanintegratedprocessratherthanpostfabricationassembly.However,suchprocessischallenging,becauseitrequireshighsurfacequalityandgeometricaccuracyofthecontactareas,andprecisepositioningandfixturingofembeddedcomponents.Theserequirementsbroughtextracomplexitiesanddifficultiesintothedesignandfabricationprocess.Mavroidisetal.,hadcontributedtobuildingnonassemblyroboticsystemwithembeddedparts,suchasrobotichandandradio-controlledvehicle.Theirworksadvancethedevelopmentofone-stepfabricationoffullyfunctional,multiarticulatedmechanismwithembeddedcomponents.However,therequirementofaccurateinsertionoftheembeddedcomponentsisstillatoughproblemthatmakesAMlesscost-effective,andisonlyapplicabletoselectedapplications.Chenetal.,attheUniversityofHongKongfocusontheshapeoptimizationandanalysisofnonassemblyjointmechanismsusingdifferent3-Dprintingtechniques.Theseworksprovidealternativeideasof3-Dprintingtolerance-tightmechanisms.Theyalsocontributedtothenoveldesignofnonassemblymechanismsandsystems.However,theydidnottakemechanismactuationintoconsideration.Theautomatedfabricationofnonassembly,fullyfunctionalmechanismisbynowstillthedreamofresearchersinthe3-Dprintingcommunity.NewAMprocessesorAMcompatibleprocessesthatsupport3-Dprintingoffunctionalmaterialsisunderactiveresearch,becausefunctionalmaterialsmaypotentiallybedesignedtofunctionasactuators.Suchactuatorsmightbeprintedthroughlayeredmanufacturingduringfabrication.However,suchmultimaterial3-Dprintersarestillunderresearch.Overall,itishighlydesirabletoprinttheactuatorsinsitutheroboticmechanismprintingprocess.Tothebestknowledgeoftheauthors,theproposedresearchreportedinthispaperisthefirstautomatically3-Dprintedroboticmechanismswithouttheneedofassembly,orembeddingotheractuatingcomponents.The3-Dprintedrobotcanplug(toacontroller)andplay(pickandplace).Thispaperdemonstratesanewefforttofabricateafullyfunctionalnonassemblyrobotwithoutanyinserts,suchasmechanicalconnectingpinsandelectronicactuators.Theproposedeffortisbasedonpneumaticactuation.Theusageofapneumaticactuatorastheprimemovercaneffectivelyeliminatetheinsertionofcircuitsandelectronicpartsforroboticactuation.Sincetheproposedpneumaticrobotisentirelymadeofpolymermaterialthatisnonmagneticanddielectric,ithasgreatpotentialinapplicationswhereelectricityisnotallowedorpreferred,suchasworkinginMRIequipmentorworkinginhighriskenvironmentslikeinflammablegasvesselsorpipes.Becausepreviouspneumaticsteppermo-torsaredesignedwithalargeamountofassemblyandmaterialcombinationinmind,theycannotbeusedinthisresearch.Inthisresearch,aninnovativeroller-valve-basedpneumaticstep-permotordesignisproposed.Theproposeddesigncanbeeasilyintegratedintoaroboticmechanismandfabricatedwithouttheneedofassembly.Inaddition,unlikepreviouslyreportedpneumaticsteppermotorsthathavespeedlimitationandspeeddiscontinuityproblems,theproposedpneumaticsteppermotordesignallowsvelocitycontrol,andtheswitchbetweencontinuousmotionmodeandsteppingmode.Eventhoughonlyasimpleroboticmechanismispresentedinthispaper,itishopedthatthisearlyresearchmightarouseinterestin3-Dprintingofnonassemblyandfullyfunctionalpneumaticrobots.Furthermore,weareconfidentthattheproposedconceptofthenonassemblyroboticdesignandfabricationbasedon3-Dprintingcanbringnewin-sightintodesigninnovationofvariousrobots,suchashouseholdrobots,industrialrobots,andsoon.Three-dimensionalprintingtechnologyhasmanyadvantages.Thesimplearticulatedjointrequiresatleastthreeparts:link1,link2,andthehingepin.Thesethreepartshavetobemanufacturedindividuallywithdifferentmachinetools,andanextraassemblyprocessisrequired.Onthecontrary,3-Dprintingneedsonlydigitalassemblybymakingprovisionofaclearancebetweenpartswithrelativemotion.Thedigitallyassembledmodelisconstructedlayerbylayer.This3-Dprintednonassemblyjointclearlyshowsthereductioninthecomponentnumberandtheeliminationofpostassembly.Suchreductionandsimplificationnotonlysavecostandraiseefficiency,butalsoimprovethestabilityandreliabilityofthemechanism.Three-dimensionalprintinghasmadegreatimprovementsintermsofmanufacturingaccuracy,materialproperty,surfacequality,hardness,toughness,andpartdurabilityovertheyears.Theseimprovedfeaturesmake3-Dprintingofnonassemblyfullyfunctionaldevicesmoreandmoreattractive.Thedesignanddevelopmentoffunctionalmechanismsandroboticsystemsthatcanbefabricatedwithouttheneedofassemblyisveryattractive.conceptualdiagramofPneuStep,thefirstpneumaticstepperdesignedbyStoianovicietal.ItconsistsoffourmainpartsthatarerepresentedbydifferentcolorsinFig.3.ThestepmotionisachievedbysequentiallypressurizingthreediaphragmcylindersasD1–D2–D3.Al-thoughPneuStephasgreatperformance,itsdesigncomplexityleadstoahighmanufacturingcostandlongdevelopmentcycletime.Themotordesignhasmorethan25differentparts.Theassemblyoftheindividualpartstogetherwithfasteners,bearings,andconnectorsisnotaneasytask.Theapplicationofthreecrankmechanismstoproduceplanetarymotionrequiresprecisefabricationandassembly.Otherwise,itismorelikelytoresultininterferencebetweenmovingparts,whichcanleadtomotorfailure.非组装机制可控气动机器人新颖的设计和三维印刷摘要：增材制造业(称为三维打印技术)技术能够制造机械零件，没有几何复杂性的限制。如果设计得当,也可以自动的机制不需要组装制造。考虑到这些三维打印的功能,本文提出一种新颖的气动机器人设计可以通过三维印刷制作过程不需要组装的关键要素,提出了机器人创新设计的气动控制步进电机,使多运动模式的模式。该气动步进设计是基于一个风扇电机,因此,在密封性要求较低,这使得有可能3d印刷制作。角运动控制辊阀被添加到风扇电机的设计。通过控制辊的空气压力阀,可以获得连续运动和步进运动。实验表明,角速度也可以由不同滚动阀空气压力。提出了概念并证明了三维打印气动机器人有效性。印刷的机器人,当与空气管和气动控制器,可以执行简单的选择和地点操作。认为未来气动机器人系统3d印刷可以应用于相关行业。气动驱动广泛用于工业，低成本、小体积、高功率,可靠性和安全性。在某些情况下,气动驱动甚至比电动的也多,特别是在医学应用,如核磁共振医疗成像设备和高风险环境如易燃气体容器或管道。一些经典的气动驱动、旋转或直线,已经发育完全。然而,这样的经典动作要求高气密性和制造和装配精度,增加了生产时间和成本。此外,由于制造和装配过程可能导致控制精度降低。在气动系统的关键是气动执行机构，就是气动步进电机。最近集中精力发展更精确的气动步进电机或步进电机用于磁共振成像的环境。从一些文献中看到提出了气动步进电机的四种类型。一种叫做PneuStep核磁共振兼容的步进电机,其步长可以达到3.33°(角)和0.055毫米(线性)。PneuStep的的主要结构是由三个气缸膜片,一组内部齿轮和输出曲柄。外齿轮齿圈固定,而连接到一个输出轴。电机能够在步进顺序模式驱动三个气缸膜片。另一种类型的步进电机马达由三个活塞在各自的注射器和两种类型的齿轮:一个旋转装置和三个直接传动的齿轮。有一定的交错角之间的转动齿轮直接传动的齿轮。每次齿轮移动和接触转动齿轮,转动齿轮会转动一个步进角。因此,电动机可以通过测序不断输出步进运动的三个齿轮。开发的步进电机采用相似的原理,但最小的大小在所有这些气动步进电机只有10毫米直径。然而,这些报道步进电动机依靠不同的齿轮互相啮合的相互作用,或合作的线性运动活塞曲柄和连杆机制实现步进运动,这需要精密制造和组装。陈等人提出的另一个新颖的设计指的是二冲程发动机。使用曲柄将两个耦合的活塞的直线运动转换为输出轴的旋转运动。驱动系统可以每一步旋转3.6°。与前面的设计相比,这个概念极大地简化了传统气动工作原理和机械设计的步进电机。然而,这些步进电机的主要缺点是速度不连续和振动。在许多情况下,它是可取的,如果电机开关运动模式之间的连续模式和步进模式。陈等人提出的最新设计是能够输出连续旋转根据其工作原理,这是类似于一个汽车引擎。但它需要一个精确的控制两个活塞和设计上的合作相当复杂。一次不成功的控制策略可能会导致一个非常大的扭转力矩的曲柄可能会导致巨大的损失。上述所有步进电机设计复杂的机制,使他们不适合三维印刷。增材制造,称为三维印刷,是一种制造方法,在物理对象是一层一层地建造。与传统方法,三维打印可以制造部分直接从计算机辅助设计模型和机制,无论形状的复杂性。由于这个属性,三维打印技术可以大大缩短产品设计圈,节省时间和成本,并提供访问验证产品设计的早期,在传统的生产过程中,各个部分必须的第一,然后组装成最终的机制是耗费时间和金钱。此外,装配工艺要求精度高。否则,最后机制很容易卡住,不能工作由于不恰当的位置和相配的可移动的部分。相反,3d印刷允许一步制造复杂的机制,如多链路和多铰接机制不需要任何组件的装配。它有一个巨大的潜力,改变目前机制和机器人系统是如何设计和建造。三维打印非组装机制和机器人系统已经被研究了很长一段时间。许多不同的三维印刷过程应用于制造机器人机制。用熔融沉积造型技术,建立几种机制,如并联机械手。这些快速印刷机制需要进一步组装机制部分。斯坦福大学使用形状沉积制造,开发一个灵活的关节与嵌入式组件。这些组件被插入到机制在其制造作为一个集成的过程而不是制造装配。然而,这样的过程是具有挑战性的,因为它需要较高的表面质量和几何精度的接触区域,嵌入式组件的精确定位和夹具。这些需求带来额外的复杂性和困难在设计和制造过程。Mavroidis等人设计非组装机制机器人系统预埋件,如机械手和无线电控制车辆。他们的工作推进一步法制造的全功能的发展,多与嵌入式组件的机制。然而,准确的插入嵌入式组件的需求仍然是一个棘手的问题,让我更少的成本效益,并只适用于选定的应用程序。香港大学的关注非组装机制联合机制的形状优化和分析使用不同的三维打印技术。这些作品提供替代的想法三维印刷公差紧机制。他们也促成了非组装机制机制和系统的设计。然而,他们并没有考虑驱动机制。非组装机制自动化制造,功能齐全的机制现在仍然在三维印刷人员的梦想社区。新是过程还是兼容的过程支持3d打印功能材料的研究很活跃,因为功能材料可能被用来作为执行机构。这种执行机构可能通过分层印刷生产制造期间。然而,这样的复合材料3-d打印机仍在研究中。总的来说,这是非常可取的打印驱动器原位机器人印刷过程的机制。针对知名的设计师,本文提出研究报告是自动三维印刷机械机制不需要组装,或嵌入其他驱动组件。3d印制机器人可以插头(控制器)和播放(选择和地点)。本文演示了一种新的努力制造一个功能齐全的非组装机制机器人没有插入,如机械连接插脚和电子执行器。拟议的工作是基于气动驱动。气压传动装置作为原动力的使用可以有效地消除电路和电子零件的插入机械驱动。自提出气动机器人完全是由非磁性的高分子材料和介质,它有巨大的潜力在电力的应用程序是不允许或首选,如在MRI设备或在高危环境下工作,如易燃气体容器或管道。因为之前的气动设计步进电机与大量的组装和材料组合,他们不能被用于这项研究。在本研究中,基于创新的滚子阀的气动设计提出了步进电机。提出设计可以很容易地集成到一个机器人机制和捏造不需要组装。此外,与之前报道的气动步进电机的速度限制和速度不连续问题,提出气动步进电机设计允许速度控制和连续动作模式和步进模式之间切换。尽管只有一个简单的机器人机制提出了,希望这个早期研究可能引起兴趣非组装机制和功能齐全的气动机器人的三维印刷。此外,我们相信,非组装机制机械设计和制造的概念提出基于三维印刷设计创新可以带来新的见解不同的机器人,如家用机器人、工业机器人等。三维印刷技术有许多优点。简单的铰接接头至少需要三个部分:链接,链接2,铰链销。这三个部分分别与不同的机床制造,和一个额外的装配过程是必需的。相反,3d印刷只需要数字大会通过提供与相对运动部件之间的间隙。数字化装配模型是一层一层地建造。这个3d印刷非组装机制联合清楚地显示了减少组件数量和消除后组装。减少和简化不仅节省成本和提高效率,也提高了稳定性和可靠性的机制。三维印刷有了很大改进的制造精度,材料属性、表面质量、硬度、韧性,和持久性。这些改进的功能使三维印刷非组装机制功能齐全的设备越来越有吸引力。功能机制和机器人系统的设计和开发,可以设计不需要组装是很有吸引力的。Stoianovici等人设计的第一个气动步进机由四个主要部分组成,步骤顺序运动是通过加压D1-D2-D3三个气缸膜片。尽管PneuStep强大的性能,它的设计复杂性导致生产成本高,开发周期长。电机设计有超过25个不同的部分。组装各个部分的紧固件,轴承,连接器不是一项容易的任务。三曲柄的应用机制产生行星运动需要精确的制造和装配。否则,它更有可能导致移动部件之间的干扰,从而导致发动机故障。目录TOC\o"1-3"\u第一章总论 1一、项目提要 1二、可行性研究报告编制依据 2三、综合评价和论证结论 3四、存在问题与建议 4第二章项目背景及必要性 5一、项目建设背景 5二、项目区农业产业化经营发展现状 11三、项目建设的必要性及目的意义 PAGER