機(jī)器人設(shè)計(jì)外文翻譯

1、<p><b>　　附錄</b></p><p>　　Robot is a type of mechantronics equipment which synthesizes the last research achievement of engine and precision engine, micro-electronics and computer, automation

2、 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 rob

3、ots products are come into being. The practicality use of robot products not only solves the problems which are dif</p><p>　　With the rapid progress with the control economy and expanding of the modern citie

4、s, 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 disp

5、osal. 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>　

6、　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 analys

7、is 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,

8、the mechanical configuration combines the character of direct</p><p>　　The step motor can receive digital signal directly and has the ability to response outer environment immediately and has no accumulation

9、 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 econom

10、ic and practicality. On this basis，the analysis of stepping motor in power calculating and style selecting is also given.</p><p>　　The analysis of kinematics and dynamics for object holding manipulator is gi

11、ven 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 betwe

12、en manipulator space and drive space in position and speed. The relationship between manipulator’s tip position and arthrosis angles is concluded by coordinate transform method. The geometry method is use</p><

13、p>　　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 fu

14、nction 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

15、 takes the function of system initialization, data operation 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

16、 of the step motor, the increase and decrease of the speed is 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 con

17、trolled by the pulse frequency sent to the step motor drive with a rational method. This can be implemented either by hardware or by software. A step </p><p>　　A t last, the research content and the achievem

18、ent are sum up and the problems and shortages in main the content are also listed. The development and application of robot in the future is expected.</p><p>　　機(jī)器人是典型的機(jī)電一體化裝置，它綜合運(yùn)用了機(jī)械與精密機(jī)械、微電子與計(jì)算機(jī)、自動控制與驅(qū)動、傳感

19、器與信息處理以及人工智能等多學(xué)科的最新研究成果，隨著經(jīng)濟(jì)的發(fā)展和各行各業(yè)對自動化程度要求的提高，機(jī)器人技術(shù)得到了迅速發(fā)展，出現(xiàn)了各種各樣的機(jī)器人產(chǎn)品。機(jī)器人產(chǎn)品的實(shí)用化，既解決了許多單靠人力難以解決的實(shí)際問題，又促進(jìn)了工業(yè)自動化的進(jìn)程。目前，由于機(jī)器人的研制和開發(fā)涉及多方面的技術(shù)，系統(tǒng)結(jié)構(gòu)復(fù)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(xiàng)技術(shù)的廣泛應(yīng)用，因此，研制經(jīng)濟(jì)型、實(shí)用化、高可靠性機(jī)器人系統(tǒng)具有廣泛的社會現(xiàn)實(shí)意義和經(jīng)濟(jì)價值。

20、</p><p>　　由于我國經(jīng)濟(jì)建設(shè)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)擺在了人們的議事日程上來。隨著科學(xué)技術(shù)的發(fā)展和人類知識水平的提高，人們越來越認(rèn)識到污水處理的重要性和迫切性，科學(xué)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(jì)發(fā)展的必然。</p><p>　　本文結(jié)合塑料一次

21、擠出成型機(jī)和塑料抓取機(jī)械手的研制過程中出現(xiàn)的問題，綜述近兒年機(jī)器人技術(shù)研究和發(fā)展的狀況，在充分發(fā)揮機(jī)、電、軟、硬件各自特點(diǎn)和優(yōu)勢互補(bǔ)的基礎(chǔ)上，對物料抓取機(jī)械手整體機(jī)械結(jié)構(gòu)、傳動系統(tǒng)、驅(qū)動裝置和控制系統(tǒng)進(jìn)行了分析和設(shè)計(jì)，提出了一套經(jīng)濟(jì)型設(shè)計(jì)方案。采用直角坐標(biāo)和關(guān)節(jié)坐標(biāo)相結(jié)合的框架式機(jī)械結(jié)構(gòu)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(qū)動元件的動力傳遞給機(jī)器人機(jī)械手相應(yīng)的執(zhí)行機(jī)構(gòu)，以實(shí)現(xiàn)各種必要的運(yùn)動，傳動方式上采用結(jié)

22、構(gòu)緊湊、傳動比大的蝸輪蝸桿傳動和將旋轉(zhuǎn)運(yùn)動轉(zhuǎn)換為直線運(yùn)動的螺旋傳動。機(jī)械手驅(qū)動系統(tǒng)的設(shè)計(jì)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(dá)到的技術(shù)水平。由于步進(jìn)電機(jī)能夠直接接收數(shù)字量，響應(yīng)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(qū)動機(jī)構(gòu)的動力元件，因此，在驅(qū)動裝置中采用由步進(jìn)電機(jī)構(gòu)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(dá)到經(jīng)濟(jì)性、實(shí)用化目的，在此基礎(chǔ)上，對步進(jìn)電機(jī)的功率計(jì)一算及選型問題經(jīng)行了分析。

23、</p><p>　　在完成機(jī)械結(jié)構(gòu)和驅(qū)動系統(tǒng)設(shè)計(jì)的基礎(chǔ)上，對物料抓取機(jī)械手運(yùn)動學(xué)和動力學(xué)進(jìn)行了分析。運(yùn)動學(xué)分析是路徑規(guī)劃和軌跡控制的基礎(chǔ)，對操作臂進(jìn)行了運(yùn)動學(xué)正、逆問題的分析可以完成操作空間位置和速度向驅(qū)動空間的映射，采用齊次坐標(biāo)變換法得到了操作臂末端位置和姿態(tài)隨關(guān)節(jié)夾角之間的變換關(guān)系，采用幾何法分析了操作臂的逆向運(yùn)動學(xué)方程求解問題，對控制系統(tǒng)設(shè)計(jì)提供了理論依據(jù)。機(jī)器人動力學(xué)是研究物體的運(yùn)動和作用力之間的關(guān)系的

24、科學(xué)，研究的目的是為了滿足是實(shí)時性控制的需要，本文采用牛頓-歐拉方法對物料抓取機(jī)械手動力學(xué)進(jìn)行了分析，計(jì)算出了關(guān)節(jié)力和關(guān)節(jié)力矩，為步進(jìn)電機(jī)的選型和動力學(xué)分析與結(jié)構(gòu)優(yōu)化提供理論依據(jù)。 </p><p>　　控制部分是整個物料抓取機(jī)械手系統(tǒng)設(shè)計(jì)關(guān)鍵和核心，它在結(jié)構(gòu)和功能上的劃分和實(shí)現(xiàn)直接關(guān)系到機(jī)器人系統(tǒng)的可靠性、實(shí)用性，也影響和制約機(jī)械手系統(tǒng)的研制成本和開發(fā)周期。在控制主機(jī)的選用上，采用結(jié)構(gòu)緊湊、擴(kuò)展功能強(qiáng)和可靠性高

25、的PC工業(yè)控制計(jì)算機(jī)作為主機(jī)，配以PCL-839卡主要承擔(dān)系統(tǒng)功能初始化、數(shù)據(jù)運(yùn)算與處理、步進(jìn)電機(jī)驅(qū)動以及故障診斷等功能;同時對PCL-839卡的結(jié)構(gòu)特點(diǎn)、功能原理和其高定位功能等給與了分析。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(zhì)基礎(chǔ)，軟件則是計(jì)算機(jī)控制系統(tǒng)的神經(jīng)中樞，軟件設(shè)計(jì)的目的是以最優(yōu)的方式將各部分功能有機(jī)的結(jié)合起來，使系統(tǒng)具有較高的運(yùn)行效率和較強(qiáng)的可靠性。在物料抓取機(jī)械手軟件的設(shè)計(jì)上，采用的是模塊化結(jié)構(gòu)，分為系統(tǒng)初始化

26、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(jì)算機(jī)和各控制單元之間全部由PCL-839卡聯(lián)系，并且由該卡實(shí)現(xiàn)抗干擾等問題，減少外部信號對系統(tǒng)的影響。</p><p>　　步進(jìn)電機(jī)的啟停頻率遠(yuǎn)遠(yuǎn)小于其最高運(yùn)行頻率，為了提高工作效率，需要步進(jìn)電機(jī)高速運(yùn)行并快速啟停時，必須考慮它的升，降速控制問題。電機(jī)的升降速控制可以歸結(jié)為以某種合理的力一式控制發(fā)送到步進(jìn)電機(jī)驅(qū)動器的脈沖頻率，這可由硬件實(shí)現(xiàn)，也可由軟件方法來實(shí)

27、現(xiàn)。本文提出了一種算法簡單、易于實(shí)現(xiàn)、理論意義明確的步進(jìn)電機(jī)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(jìn)電機(jī)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(jì)算量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(shí)驗(yàn)證明了該方法的有效性。</p><p>　　最后，對論文主要研究內(nèi)容和取得的技術(shù)成果進(jìn)行了總結(jié)，提出了存在的問題和不足，同時對機(jī)器人技術(shù)的發(fā)展和應(yīng)用進(jìn)行了展望。&l