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簡(jiǎn)介:此文檔是畢業(yè)設(shè)計(jì)外文翻譯成品(含英文原文中文翻譯),無需調(diào)整復(fù)雜的格式下載之后直接可用,方便快捷本文價(jià)格不貴,也就幾十塊錢一輩子也就一次的事外文標(biāo)題DESIGNANDCONTROLOFAHIGHPERFORMANCESCARATYPEROBOTICARMWITHROTARYHYDRAULICACTUATORS外文作者M(jìn)IGARAHLIYANAGE,NICHOLASKROUGLICOFANDRAYMONDGOSINE文獻(xiàn)出處2019CANADIANCONFERENCEONELECTRICALANDCOMPUTERENGINEERING如覺得年份太老,可改為近2年,畢竟很多畢業(yè)生都這樣做英文3502單詞,20544字符字符就是印刷符,中文5161漢字。(如果字?jǐn)?shù)多了,可自行刪減,大多數(shù)學(xué)校都是要求選取外文的一部分內(nèi)容進(jìn)行翻譯的。)DESIGNANDCONTROLOFAHIGHPERFORMANCESCARATYPEROBOTICARMWITHROTARYHYDRAULICACTUATORSABSTRACTTHISSTUDYPROPOSESASELECTIVECOMPLIANTASSEMBLYROBOTICARMSCARAWITHTWOREVOLUTEJOINTSFORPOULTRYDEBONINGTHEJOINTSOFTHEARMAREBASEDONTWOHIGHPERFORMANCEROTARYTYPEHYDRAULICACTUATORSTHESEACTUATORSAREOPERATEDBYSERVOVALVES,WHICHCONTROLHYDRAULICFLUIDFLOWANDDIRECTIONAPIDBASEDINDEPENDENTJOINTCONTROLSYSTEMISCONSIDEREDFORCONTROLLINGTHEPOSITIONOFEACHJOINTTHESYSTEMWASMODELLEDUSINGTHEMATLABSIMULINKTOOLBOXTHESIMULATIONRESULTSSHOWTHATTHEARMWASCAPABLEOFCOVERINGAWORKENVELOPEOF09MX09M,REACHINGCONTROLLEDVELOCITIESOFUPTO75M/SWITHANAVERAGEOF58M/SOBTAININGSUCHHIGHSPEEDSANDTORQUESWOULDBEADIFFICULTTASKWITHELECTRICALACTUATORSOFTHECAPACITYASTHEHYDRAULICCOUNTERPARTSCONSIDEREDHEREINDEXTERMSHYDRAULICROTARYACTUATORS,PIDCONTROL,SCARAARM,POULTRYDEBONING1INTRODUCTIONTRANSPORTSUPTO100PIECESOFPOULTRYPARTSPERMINUTEATASPEEDOF04M/SBEFORETHEPARTSREACHTHECUTTINGBLADE,ITSIMAGEISTAKENBYAXRAYCAMERAACOMPUTERWILLANALYZETHEIMAGEANDGENERATETHEDESIREDPOSITIONCOORDINATEPOSITIONX,Y,ZOFTHEBONETHISSTUDYPROPOSESASELECTIVECOMPLIANTASSEMBLYROBOTARMSCARAWITHTWOREVOLUTELINKSTOPOSITIONTHECUTTINGBLADEASSEMBLYWHICHINCLUDESANADDITIONALPRISMATICLINKFORDEBONINGTHETWOREVOLUTELINKSOFTHISROBOTARECONTROLLEDBYROTARYVAINSERVOHYDRAULICACTUATORSDIRECTLYFIXEDTOTHEJOINTSIEDIRECTDRIVETHECONTROLSYSTEMSOFTHETWOACTUATORSTHENPERFORMSPRECISEPOSITIONINGOFTHECUTTINGBLADEASSEMBLYTHEMOTIONGENERATEDBYTHISARMHASTOBEFAST,ACCURATE,SMOOTH,ANDNONOSCILLATORYAFTERTHEBLADEISMOVEDTOTHEDESIREDX,YPOSITIONINTHEHORIZONTALPLANE,ANACTUATORFIXEDTOTHEPRISMATICJOINTWILLBEACTIVATEDINTHEZDIRECTIONINORDERTOREMOVETHEBONETHEENDEFFECTORISCAPABLEOFCOVERINGANAREAOFAPPROXIMATELY09MX09MINTHISSTUDYWEPROPOSEAMODELFORTHEOPERATIONANDCONTROLOFASCARAROBOTWITHDOUBLEVANEROTARYTYPESERVOHYDRAULICACTUATORSTHEPROPOSEDSYSTEMWASSIMULATEDANDTHEPERFORMANCEWASEVALUATEDTHISPAPERWILLALSODEMONSTRATEITSCAPABILITYFORHIGHSPEEDPRECISIONCONTROLOFTHEENDEFFECTORITISALSOINTENDEDTOJUSTIFYWHYHYDRAULICSWERESELECTED,ALTHOUGHELECTRICALMOTORSARECOMMONLYUSEDININDUSTRYTODAYBASEDONSIMULATIONRESULTSWEESTIMATETHEDISPLACEMENTCOEFFICIENTORVOLUMEOFTHEROTARYHYDRAULICACTUATORREQUIREDFORTHISPURPOSEASUITABLEDESIGNFORTHEACTUATORISPROPOSEDNEXTFINALLY,ADESIGNOFTHECOMPLETESCARAARMWITHITSCOMPONENTSISPRESENTEDTHISPAPERISORGANIZEDASFOLLOWSABRIEFINTRODUCTIONANDANINSIGHTTOTHERESEARCHTOPICISPRESENTEDINSECTION1INSECTION2,THETHEORYANDMETHODOLOGYUSEDINMODELLINGTHESYSTEMAREPRESENTEDTHERESULTSOFTHESIMULATEDSYSTEMFORTHESCARAARMAREPRESENTEDNEXTSECTIONINSECTION4,THEDETAILSOFTHEACTUATORDESIGNANDTHESCARAARMASSEMBLYAREPRESENTEDINSECTION5,THECONCLUSIONSANDAVENUESFORFUTUREWORKAREGIVEN2PROBLEMFORMULATIONANDTHEDYNAMICMODELTHEPROPOSEDSCARATYPEROBOTICARMCONSISTSWITHTHREEDEGREESOFFREEDOMDOFHYDRAULICTYPEROTARYACTUATORSAREFITTEDTOTHETWOROTARYJOINTSOFTHEROBOTICARMTOPRODUCETHEHORIZONTALANGULARMOVEMENTXYPLANE
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