外文翻譯--末端執(zhí)行器技術

1、<p><b>　　附錄</b></p><p><b>　　外文文獻及翻譯</b></p><p>　　作 者Arvidsson譯 名阿維德森國 籍瑞典</p><p>　　原文出處FOREIGN PATENT DOCUMENTS (國外專利文獻)</p><p>　

2、　The technology of end effector</p><p>　　.The end effector is a type of mechantronics equipment which synthesizes the last research achievement of engine and precision engine, micro-electronics and computer,

3、 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

4、 of the robots products are come into being. The practicality use of robot products not only solves the problems w</p><p>　　With the rapid progress with the control economy and expanding of the modern cities

5、, the let of sewage is increasing quickly: With the development of modern technology and the enhancement of consciousness about environment reserve, more and more people realized the importance and urgent of sewage dispo

6、sal. Active bacteria method is an effective technique for sewage disposal，The lacunaris plastic is an effective basement for active bacteria adhesion for sewage disposal. The abundance requirement </p><p>　　

7、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 analysi

8、s 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, t

9、he mechanical configuration combines the character of direct</p><p>　　The analysis of kinematics and dynamics for object holding manipulator is given in completing the design of mechanical structure and driv

10、e 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. T

11、he relationship between manipulator’s tip position and arthrosis angles is concluded by coordinate transform method. The geometry method is use</p><p>　　Control system is the key and core part of the object

12、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

13、 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

14、and di</p><p>　　The start and stop frequency of the step motor is far lower than the maximum running frequency. In order to improve the efficiency of the step motor, the increase and decrease of the speed is

15、 must considered when the step motor running in high speed and start or stop with great acceleration. The increase and decrease of the motor’s speed can be controlled by the pulse frequency sent to the step motor drive w

16、ith a rational method. This can be implemented either by hardware or by software. A step </p><p>　　In 1997, The Japan career development (NASDA) emission technology experiment Satellite ETS - VII (The e Test

17、 Satellite), is The earliest demonstration of on-orbit capture technology independent verification space robot system, as shown in figure 4.In the ETS - VII tracking on a XiaoLiang a star of mechanical arm. A set of NASD

18、A is developed, the length of the 2m for six degrees of freedom ERA of mechanical Arm Robot Arm (ETS) - VII, it contains single-degree-of-freedom, at the end of the actuato</p><p>　　Three multisensor end-eff

19、ector containing five kinds of sensors, including a camera, three close sensor, a soft sensor, a soft sensor and a force/torque sensor, has high reliability and independent ability. Hand can finish fuel, replace batterie

20、s, tighten the screws floating objects, and loosen etc. Precise grab and operational tasks.</p><p>　　ETS - VII on-orbit demonstration of two important during the experiment, the two floating object through t

21、he test capture manipulator end actuators to capture. In order to complete the object of different operation, ETS - VII end actuator designed three GPF (GRAPPLE with torque FIXTURE) interface: the standard interface GPF

22、- S interface, for most of the load, including ORU volitional: electric interface of GPF - M (GPF MITI), mainly for the mechanical arm interface with three means of complete </p><p>　　ARH hand is one half of

23、 Semidexterous dexterity (hand) claws, three degrees, by mixing fingers and flexible refers to the surface. By mixing finger includes a dc motor drives the translation of two fingers and stepping motor driven by the rota

24、tion of the fingers, basic target function. Grab Flexible refers to a reconfigurable form by the hand, in the similar structure surface to install a finger tight needle spring pressure groups, the needle content objects

25、arrays with surface rolling array, st</p><p><b>　　末端執(zhí)行器技術</b></p><p>　　末端執(zhí)行器是典型的機電一體化裝置，它綜合運用了機械與精密機械、微電子與計算機、自動控制與驅動、傳感器與信息處理以及人工智能等多學科的最新研究成果，隨著經(jīng)濟的發(fā)展和各行各業(yè)對自動化程度要求的提高，機器人技術得到了迅速發(fā)展，出

26、現(xiàn)了各種各樣的機器人產(chǎn)品。機器人產(chǎn)品的實用化，既解決了許多單靠人力難以解決的實際問題，又促進了工業(yè)自動化的進程。目前，由于機器人的研制和開發(fā)涉及多方面的技術，系統(tǒng)結構復雜，開發(fā)和研制的成本普遍較高，在某種程度上限制了該項技術的廣泛應用，因此，研制經(jīng)濟型、實用化、高可靠性機器人系統(tǒng)具有廣泛的社會現(xiàn)實意義和經(jīng)濟價值。 </p><p>　　由于我國經(jīng)濟建設和城市化的快速發(fā)展，城市污水排放量增長很快，污水處理己經(jīng)擺在了

27、人們的議事日程上來。隨著科學技術的發(fā)展和人類知識水平的提高，人們越來越認識到污水處理的重要性和迫切性，科學家和研究人員發(fā)現(xiàn)塑料制品在水中是用于污水處理的很有效的污泥菌群的附著體。塑料制品的大量需求，使得塑料制品生產(chǎn)的自動化和高效率要求成為經(jīng)濟發(fā)展的必然。</p><p>　　綜述近幾年機器人技術研究和發(fā)展的狀況，在充分發(fā)揮機、電、軟、硬件各自特點和優(yōu)勢互補的基礎上，對物料抓取機械手整體機械結構、傳動系統(tǒng)、驅動裝置

28、和控制系統(tǒng)進行了分析和設計，提出了一套經(jīng)濟型設計方案。采用直角坐標和關節(jié)坐標相結合的框架式機械結構形式，這種方式能夠提高系統(tǒng)的穩(wěn)定性和操作靈活性。傳動裝置的作用是將驅動元件的動力傳遞給機器人機械手相應的執(zhí)行機構，以實現(xiàn)各種必要的運動，傳動方式上采用結構緊湊、傳動比大的蝸輪蝸桿傳動和將旋轉運動轉換為直線運動的螺旋傳動。機械手驅動系統(tǒng)的設計往往受到作業(yè)環(huán)境條件的限制，同時也要考慮價格因素的影響以及能夠達到的技術水平。由于步進電機能夠直接接收

29、數(shù)字量，響應速度快而且工作可靠并無累積誤差，常用作數(shù)字控制系統(tǒng)驅動機構的動力元件，因此，在驅動裝置中采用由步進電機構成的開環(huán)控制方式，這種方式既能滿足控制精度的要求，又能達到經(jīng)濟性、實用化目的，在此基礎上，對步進電機的功率計一算及選型問題經(jīng)行了分析。</p><p>　　在完成機械結構和驅動系統(tǒng)設計的基礎上，對物料抓取機械手運動學和動力學進行了分析。運動學分析是路徑規(guī)劃和軌跡控制的基礎，對操作臂進行了運動學正、逆

30、問題的分析可以完成操作空間位置和速度向驅動空間的映射，采用齊次坐標變換法得到了操作臂末端位置和姿態(tài)隨關節(jié)夾角之間的變換關系，采用幾何法分析了操作臂的逆向運動學方程求解問題，對控制系統(tǒng)設計提供了理論依據(jù)。機器人動力學是研究物體的運動和作用力之間的關系的科學，研究的目的是為了滿足是實時性控制的需要，本文采用牛頓-歐拉方法對物料抓取機械手動力學進行了分析，計算出了關節(jié)力和關節(jié)力矩，為步進電機的選型和動力學分析與結構優(yōu)化提供理論依據(jù)。 <

31、/p><p>　　控制部分是整個物料抓取機械手系統(tǒng)設計關鍵和核心，它在結構和功能上的劃分和實現(xiàn)直接關系到機器人系統(tǒng)的可靠性、實用性，也影響和制約機械手系統(tǒng)的研制成本和開發(fā)周期。在控制主機的選用上，采用結構緊湊、擴展功能強和可靠性高的PC工業(yè)控制計算機作為主機，配以PCL-839卡主要承擔系統(tǒng)功能初始化、數(shù)據(jù)運算與處理、步進電機驅動以及故障診斷等功能;同時對PCL-839卡的結構特點、功能原理和其高定位功能等給與了分析

32、。硬件是整個控制系統(tǒng)以及極限位置功能賴以存在的物質基礎，軟件則是計算機控制系統(tǒng)的神經(jīng)中樞，軟件設計的目的是以最優(yōu)的方式將各部分功能有機的結合起來，使系統(tǒng)具有較高的運行效率和較強的可靠性。在物料抓取機械手軟件的設計上，采用的是模塊化結構，分為系統(tǒng)初始化模塊、數(shù)據(jù)處理模塊和故障狀態(tài)檢測與處理等幾部分。主控計算機和各控制單元之間全部由PCL-839卡聯(lián)系，并且由該卡實現(xiàn)抗干擾等問題，減少外部信號對系統(tǒng)的影響。</p><p

33、>　　步進電機的啟停頻率遠遠小于其最高運行頻率，為了提高工作效率，需要步進電機高速運行并快速啟停時，必須考慮它的升，降速控制問題。電機的升降速控制可以歸結為以某種合理的力一式控制發(fā)送到步進電機驅動器的脈沖頻率，這可由硬件實現(xiàn)，也可由軟件方法來實現(xiàn)。本文提出了一種算法簡單、易于實現(xiàn)、理論意義明確的步進電機變速控制策略:定時器常量修改變速控制方案。該方法能使步進電機加速度與其力矩——頻率曲線較好地擬合，從而提高變速效率。而且它的計算量

34、比線性加速度變速和基于指數(shù)規(guī)律加速度的變速控制小得多。通過實驗證明了該方法的有效性。</p><p>　　1997年，日本宇宙事業(yè)開發(fā)團（NASDA）發(fā)射的技術試驗衛(wèi)星ETS-VII，是最早演示驗證自主在軌捕獲技術的空間機器人系統(tǒng)， </p><p>　　在ETS-VII的跟蹤星上搭載一大一小兩套機械臂。一套是NASDA研制的長度為2m，具有6個自由度的機械臂ERA（ETS-VII Rob

35、ot Arm），它裝有單自由度的末端執(zhí)行器，用于操作具有標準捕獲接口的可更換單元等設備，三個末端執(zhí)行器呈120°角設置在支撐平臺的周邊上；另一套是通產(chǎn)省研制的先進機械手ARH，ARH由5自由度的機械臂和帶有三指：拇指、食指、中指的多傳感器末端執(zhí)行器組成，三指靈巧手的手指機構各關節(jié)通過運動副彼此相連，由于只含轉動副的手指靈巧性比較好，因此，多指靈巧手的運動副全部采用轉動副；多指靈巧手的手掌可以增加對物體的約束，其抓取和操作的適應

36、性都比較好，同時考慮到驅動元件的布置，采取了有手掌的靈巧手結構，而手掌的具體結構取決于電機的布置及傳動裝置的形式。目前大多數(shù)靈巧手采用了電驅動、氣壓驅動和液壓驅動的方式，只有少數(shù)的靈巧手采用了SMA驅動、壓電陶瓷驅動和可伸縮性聚合體驅動等新型驅動技術。由于電驅動方式具有控制方便，成本低，技術成熟等優(yōu)點，本設計選用了直流伺服電機作為驅動部件。傳動系統(tǒng)是多指靈巧手結構設計的難點。繩索傳動方式仿效人手的驅動原理并且能夠實現(xiàn)遠距離的運動和<