机械专业外文翻译--机器人-精品
Robot
Robot 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 rapid progress with the control economy and expanding of the modern cities, 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 disposal. 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 for lacunaris plastic makes it is a consequent for the plastic producing with automation and high productivity. Therefore, it is very necessary to design a manipulator that can automatically fulfill the plastic holding.
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 arthrosis 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 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 bet ween manipulator’s 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 to satisfy the demand of real time control. in this chamfer, Newton-Euripides method is used in analysis dynamic problem of七he cleaning robot and the arthrosis force and torque are given which provide the foundation for step motor selecting and structure dynamic optimal ting.
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.
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 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 spee d can be controlled 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 motor shift control method is proposed, which is simple to calculate, easy to realize and the theory means is straightforward. The motor'''' s acceleration can fit the torque-frequency curve properly with this method. And the amount of calculation load is less than the linear acceleration shift control method and the method which is based on the exponential rule to change speed. The method is tested by experiment.
At last, the research content and the achievement 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.
机器人
机器人是典型的机电一体化装置，它综合运用了机械与精密机械、微电子与计算机、自动控制与驱动、传感器与信息处理以及人工智能等多学科的最新研究成果，随着经济的发展和各行各业对自动化程度要求的提高，机器人技术得到了迅速发展，出现了各种各样的机器人产品。机器人产品的实用化，既解决了许多单靠人力难以解决的实际问题，又促进了工业自动化的进程。目前，由于机器人的研制和开发涉及多方面的技术，系统结构复杂，开发和研制的成本普遍较高，在某种程度上限制了该项技术的广泛应用，因此，研制经济型、实用化、高可靠性机器人系统具有广泛的社会现实意义和经济价值。
由于我国经济建设和城市化的快速发展，城市污水排放量增长很快，污水处理己经摆在了人们的议事日程上来。随着科学技术的发展和人类知识水平的提高，人们越来越认识到污水处理的重要性和迫切性，科学家和研究人员发现塑料制品在水中是用于污水处理的很有效的污泥菌群的附着体。塑料制品的大量需
求，使得塑料制品生产的自动化和高效率要求成为经济发展的必然。
本文结合塑料一次挤出成型机和塑料抓取机械手的研制过程中出现的问题，综述近儿年机器人技术研究和发展的状况，在充分发挥机、电、软、硬件各自特点和优势互补的基础上，对物料抓取机械手整体机械结构、传动系统、驱动装置和控制系统进行了分析和设计，提出了一套经济型设计方案。采用直角坐标和关节坐标相结合的框架式机械结构形式，这种方式能够提高系统的稳定性和操作灵活性。传动装置的作用是将驱动元件的动力传递给机器人机械手相应的执行机构，以实现各种必要的运动，传动方式上采用结构紧凑、传动比大的蜗轮蜗杆传动和将旋转运动转换为直线运动的螺旋传动。机械手驱动系统的设计往往受到作业环境条件的限制，同时也要考虑价格因素的影响以及能够达到的技术水平。由于步进电机能够直接接收数字量，响应速度快而且工作可靠并无累积误差，常用作数字控制系统驱动机构的动力元件，因此，在驱动装置中采用由步进电机构成的开环控制方式，这种方式既能满足控制精度的要求，又能达到经济性、实用化目的，在此基础上，对步进电机的功率计一算及选型问题经行了分析。
在完成机械结构和驱动系统设计的基础上，对物料抓取机械手运动学和动力学进行了分析。运动学分析是路径规划和轨迹控制的基础，对操作臂进行了运动学正、逆问题的分析可以完成操作空间位置和速度向驱动空间的映射，采用齐次坐标变换法得到了操作臂末端位置和姿态随关节夹角之间的变换关系，采用几何法分析了操作臂的逆向运动学方程求解问题，对控制系统设计提供了理论依据。机器人动力学是研究物体的运动和作用力之间的关系的科学，研究的目的是为了满足是实时性控制的需要，本文采用牛顿-欧拉方法对物料抓取机械手动力学进行了分析，计算出了关节力和关节力矩，为步进电机的选型和动力学分析与结构优化提供理论依据。
控制部分是整个物料抓取机械手系统设计关键和核心，它在结构和功能上的划分和实现直接关系到机器人系统的可靠性、实用性，也影响和制约机械手系统的研制成本和开发周期。在控制主机的选用上，采用结构紧凑、扩展功能强和可靠性高的PC工业控制计算机作为主机，配以PCL-839卡主要承担系统功能初始化、数据运算与处理、步进电机驱动以及故障诊断等功能;同时对PCL-839卡的结构特点、功能原理和其高定位功能等给与了分析。硬件是整个控制系统以及极限位置功能赖以存在的物质基础，软件则是计算机控制系统的神经中枢，软件设计的目的是以最优的方式将各部分功能有机的结合起来，使系统具有较高的运行效率和较强的可靠性。在物料抓取机械手软件的设计上，采用的是模块化结构，分为系统初始化模块、数据处理模块和故障状态检测与处理等几部分。主控计算机和各控制单元之间全部由PCL-839卡联系，并且由该卡实现抗干扰等问题，减
少外部信号对系统的影响。
步进电机的启停频率远远小于其最高运行频率，为了提高工作效率，需要步进电机高速运行并快速启停时，必须考虑它的升，降速控制问题。电机的升降速控制可以归结为以某种合理的力一式控制发送到步进电机驱动器的脉冲频率，这可由硬件实现，也可由软件方法来实现。本文提出了一种算法简单、易于实现、理论意义明确的步进电机变速控制策略:定时器常量修改变速控制方案。该方法能使步进电机加速度与其力矩——频率曲线较好地拟合，从而提高变速效率。而且它的计算量比线性加速度变速和基于指数规律加速度的变速控制小得多。通过实验证明了该方法的有效性。
最后，对论文主要研究内容和取得的技术成果进行了总结，提出了存在的问题和不足，同时对机器人技术的发展和应用进行了展望。
机器人外文翻译
英文原文出自《Advanced Technology Libraries》2008年第5期 Robot Robot 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 rapid progress with the control economy and expanding of the modern cities, 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 disposal. 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 for lacunaris plastic makes it is a consequent for the plastic producing with automation and high productivity. Therefore, it is very necessary to design a manipulator that can automatically fulfill the plastic holding. 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,
人形机器人论文中英文资料对照外文翻译
中英文资料对照外文翻译 最小化传感级别不确定性联合策略的机械手控制 摘要：人形机器人的应用应该要求机器人的行为和举止表现得象人。下面的决定和控制自己在很大程度上的不确定性并存在于获取信息感觉器官的非结构化动态环境中的软件计算方法人一样能想得到。在机器人领域，关键问题之一是在感官数据中提取有用的知识，然后对信息以及感觉的不确定性划分为各个层次。本文提出了一种基于广义融合杂交分类（人工神经网络的力量，论坛渔业局）已制定和申请验证的生成合成数据观测模型，以及从实际硬件机器人。选择这个融合，主要的目标是根据内部（联合传感器）和外部（ Vision 摄像头）感觉信息最大限度地减少不确定性机器人操纵的任务。目前已被广泛有效的一种方法论就是研究专门配置5个自由度的实验室机器人和模型模拟视觉控制的机械手。在最近调查的主要不确定性的处理方法包括加权参数选择（几何融合），并指出经过训练在标准操纵机器人控制器的设计的神经网络是无法使用的。这些方法在混合配置，大大减少了更快和更精确不同级别的机械手控制的不确定性，这中方法已经通过了严格的模拟仿真和试验。 关键词：传感器融合，频分双工，游离脂肪酸，人工神经网络，软计算，机械手，可重复性，准确性，协方差矩阵，不确定性，不确定性椭球。 1 引言 各种各样的机器人的应用（工业，军事，科学，医药，社会福利，家庭和娱乐）已涌现了越来越多产品，它们操作范围大并呢那个在非结构化环境中运行 [ 3,12,15]。在大多数情况下，如何认识环境正在发生变化且每个瞬间最优控制机器人的动作是至关重要的。移动机器人也基本上都有定位和操作非常大的非结构化的动态环境和处理重大的不确定性的能力[ 1,9,19 ]。每当机器人操作在随意性自然环境时，在给定的工作将做完的条件下总是存在着某种程
工业机器人外文翻译
附录外文文献 原文 Industrial Robots Definition “A robot is a reprogrammable,multifunctional machine designed to manipulate materials,parts,tools,or specialized devices,through variable programmed motions for the performance of a variety of tasks.” --Robotics Industries Association “A robot is an automatic device that performs functions normally ascribrd to humans or a machine in orm of a human.” --Websters Dictionary The industrial robot is used in the manufacturing environment to increase productivity . It can be used to do routine and tedious assembly line jobs , or it can perform jobs that might be hazardous to do routine and tedious assembly line jobs , or it can perform jobs that might be hazardous to the human worker . For example , one of the first industrial robots was used to replace the nuclear fuel rods in nuclear power plants . A human doing this job might be exposed to harmful amounts of radiation . The industrial robot can also operate on the assembly line , putting together small components , such as placing electronic components on a printed circuit board . Thus , the human worker can be relieved of the routine operation of this tedious task . Robots can also be programmed to defuse bombs , to serve the handicapped , and to perform functions in numerous applications in our society . The robot can be thought of as a machine that will move an end-of-arm tool , sensor , and gripper to a preprogrammed location . When the robot arrives at this location , it will perform some sort of task . This task could be welding , sealing , machine loading , machine unloading , or a host of assembly jobs . Generally , this work can be accomplished without the involvement of a human being , except for programming and for turning the system on and off . The basic terminology of robotic systems is introduced in the following :
机器人结构论文中英文对照资料外文翻译文献
中英文对照资料外文翻译文献 FEM Optimization for Robot Structure Abstract In optimal design for robot structures, design models need to he modified and computed repeatedly. Because modifying usually can not automatically be run, it consumes a lot of time. This paper gives a method that uses APDL language of ANSYS 5.5 software to generate an optimal control program, which mike optimal procedure run automatically and optimal efficiency be improved. 1）Introduction Industrial robot is a kind of machine, which is controlled by computers. Because efficiency and maneuverability are higher than traditional machines, industrial robot is used extensively in industry. For the sake of efficiency and maneuverability, reducing mass and increasing stiffness is more important than traditional machines, in structure design of industrial robot. A lot of methods are used in optimization design of structure. Finite element method is a much effective method. In general, modeling and modifying are manual, which is feasible when model is simple. When model is complicated, optimization time is longer. In the longer optimization time, calculation time is usually very little, a majority of time is used for modeling and modifying. It is key of improving efficiency of structure optimization how to reduce modeling and modifying time. APDL language is an interactive development tool, which is based on ANSYS and is offered to program users. APDL language has typical function of some large computer languages. For example, parameter definition similar to constant and variable definition, branch and loop control, and macro call similar to function and subroutine call, etc. Besides these, it possesses powerful capability of mathematical calculation. The capability of mathematical calculation includes arithmetic calculation, comparison, rounding, and trigonometric function, exponential function and hyperbola function of standard FORTRAN language, etc. By means of APDL language, the data can be read and then calculated, which is in database of ANSYS program, and running process of ANSYS program can be controlled.
管道机器人外文翻译
一款使用离合器连接类型的内窥管道机器人 摘要-这篇论文展示了一款使用离合器的新型内窥管道机器人，用于直径小于或等于100mmde 管道内窥。这款机器人拥有三条驱动轴，且每条驱动轴各有一个离合器，离合器的设计依据平行联动原理。内窥管道机器人牢固的模型机构已经过驱动，原型机也被制作出来。机器人系统已经过一系列的仿真软件模拟和实验验证。 1.简介 管内机器人经过漫长的发展，根据运动模型可分为几种基本类型，比如轮驱动、蠕动、自动足、螺旋驱动、爬行、PIG和惰性运行等类型。在这些类型之中，轮式驱动应用最为广泛。在过去的十年时间间，机器人各式各样的驱动类型研究呈现井喷式增长。不同的驱动类型的机器人一般会有三个驱动轴，依靠单独控制各轴的速度，可以让机器人实现通过关节或者Ｔ型管道。而且这种类型机器人与轮式驱动、螺旋驱动和PIG等类型比较起来会有较大的可折叠区域，比较节省空间。 近来，随着小型化管道机器人市场的扩大，对直径小于100mm的管道机器人的关注同时愈来愈热。因为室内管道的清洁程度会直接影响到人的健康，因此，对室内管道的清洁与监测变得愈加重要，同时直径小于100mm的机器人也将主要用于室内管道清洁。机械装置使用的是平行连杆机构，有助于实现装置
减速功能。减速器与其他使用两个底板的典型减速器不同，第二部分将会详细介绍机器人系统的特征。第三部分将会讲解机构的运动学分析。机构的有效性将会通过软件仿真与实验验证，这些会在第四部分展示出来。最后，同时也是至关重要的是总结。 2.机器人特征 A机器人硬件设备及系统 如例1所示，机器人系统包括控制盒与机器人装备。根据模块化设置，控制盒与机器人硬件设备室分开的。 机器人硬件设备包含主体，三条链轮和如例2显示的三个离合轮部分。机器人长80mm,外扩至100mm。机械联动装置可确保制动功能的实现，这是因为装置有效避免了电磁制动器的缺点，比如滑移、电力不足以及规格限制。 例1.装备有机械离合装置的管道检测机器人系统 机器人装置可实现两种不同的操作模式：驱动模式与制动模式。驱动模式下的机器人会运行，制动模式会使机器人停止运行并且
外文翻译：机器人本科生外文翻译资料
外文翻译资料原文 学院 专业班级 学生姓名 指导教师
Robot Darrick Addison (dtadd95@https://www.360docs.net/doc/da11108758.html,), Senior Software Engineer/Consultant, ASC Technologies Inc. 01 Sep 2001 "A re-programmable, multifunctional manipulator designed to move material, parts, tools, or specialized devices through various programmed motions for the performance of a variety of tasks." -- From the Robot Institute of America, 1979 Darrick Addison, an experienced developer in databases, networks, user interfaces, and embedded systems, introduces the field of robotics and the issues surrounding robotic systems. He covers mechanical design, sensory systems, electronic control, and software. He also discusses microcontroller systems, including serial and memory-mapped interfacing, and talks about some of the available open source software options. The word "robot" originates from the Czech word for forced labor, or serf. It was introduced by playwright Karel Capek, whose fictional robotic inventions were much like Dr. Frankenstein's monster -- creatures created by chemical and biological, rather than mechanical, methods. But the current mechanical robots of popular culture are not much different from these fictional biological creations. Basically a robots consists of: ? A mechanical device, such as a wheeled platform, arm, or other construction, capable of interacting with its environment ?Sensors on or around the device that are able to sense the environment and give useful feedback to the device ?Systems that process sensory input in the context of the device's current situation and instruct the device to perform actions in response to the situation In the manufacturing field, robot development has focused on engineering robotic arms that perform manufacturing processes. In the space industry, robotics focuses on highly specialized, one-of-kind planetary rovers. Unlike a highly automated manufacturing plant, a planetary rover operating on the dark side of the moon -- without radio communication -- might run into unexpected situations. At a minimum, a planetary rover must have some source of sensory input, some way of interpreting that input, and a way of modifying its actions to respond to a changing world. Furthermore, the need to sense and adapt to a partially unknown environment requires intelligence (in other words, artificial intelligence).
智能避障机器人设计外文翻译
INTELLIGENT VEHICLE Our society is awash in “machine intelligence” of various kinds.Over the last century, we have witnessed more and more of the “drudgery” of daily living being replaced by devices such as washing machines. One remaining area of both drudgery and danger, however, is the daily act ofdriving automobiles 1.2 million people were killed in traffic crashes in 2002, which was 2.1% of all globaldeaths and the 11th ranked cause of death . If this trend continues, an estimated 8.5 million people will be dying every year in road crashes by 2020. In fact, the U.S. Department of Transportation has estimated the overall societal cost of road crashes annually in the United States at greater than $230 billion. When hundreds or thousands of vehicles are sharing the same roads at the same time, leading to the all too familiar experience of congested traffic. Traffic congestion undermines our quality of life in the same way air pollution undermines public health.Around 1990, road transportation professionals began to apply them to traffic and road management. Thus was born the intelligent transportation system(ITS). Starting in the late 1990s, ITS systems were developed and deployed. In developed countries, travelers today have access to signifi-cant amounts of information about travel conditions, whether they are driving their own vehicle or riding on public transit systems. As the world energy crisis, and the war and the energy
搬运机器人外文翻译
外文翻译 专业机械电子工程 学生姓名张华 班级 B机电092 学号 05 指导教师袁健
外文资料名称：Research，design and experiment of end effector for wafer transfer robot 外文资料出处：Industrail Robot：An International Journal 附件： 1.外文资料翻译译文 2.外文原文
晶片传送机器人末端效应器研究、设计和实验 刘延杰、徐梦、曹玉梅 张华译 摘要：目的——晶片传送机器人扮演一个重要角色IC制造行业并且末端执行器是一个重要的组成部分的机器人。本文的目的是使晶片传送机器人通过研究其末端执行器提高传输效率,同时减少晶片变形。 设计/方法/方法——有限元方法分析了晶片变形。对于在真空晶片传送机器人工作,首先,作者运用来自壁虎的超细纤维阵列的设计灵感研究机器人的末端执行器,和现在之间方程机器人的交通加速度和参数的超细纤维数组。基于这些研究,一种微阵列凹凸设计和应用到一个结构优化的末端执行器。对于晶片传送机器人工作在大气环境中,作者分析了不同因素的影响晶片变形。在吸收面积的压力分布的计算公式,提出了最大传输加速度。最后, 根据这些研究得到了一个新的种末端执行器设计大气机器人。 结果——实验结果表明, 通过本文研究应用晶片传送机器人的转换效率已经得到显着提高。并且晶片变形吸收力得到控制。 实际意义——通过实验可以看出,通过本文的研究,可以用来提高机器人传输能力, 在生产环境中减少晶片变形。还为进一步改进和研究末端执行器打下坚实的基础,。 创意/价值——这是第一次应用研究由壁虎启发了的超细纤维阵列真空晶片传送机器人。本文还通过有限元方法仔细分析不同因素在晶片变形的影响。关键词：晶片传送机器人末端执行器、超细纤维数组、晶片 1.介绍
人工智能专业外文翻译-机器人
译文资料： 机器人 首先我介绍一下机器人产生的背景，机器人技术的发展，它应该说是一个科学技术发展共同的一个综合性的结果，同时，为社会经济发展产生了一个重大影响的一门科学技术，它的发展归功于在第二次世界大战中各国加强了经济的投入，就加强了本国的经济的发展。另一方面它也是生产力发展的需求的必然结果，也是人类自身发展的必然结果，那么随着人类的发展，人们在不断探讨自然过程中，在认识和改造自然过程中，需要能够解放人的一种奴隶。那么这种奴隶就是代替人们去能够从事复杂和繁重的体力劳动，实现人们对不可达世界的认识和改造，这也是人们在科技发展过程中的一个客观需要。 机器人有三个发展阶段，那么也就是说，我们习惯于把机器人分成三类，一种是第一代机器人，那么也叫示教再现型机器人，它是通过一个计算机，来控制一个多自由度的一个机械，通过示教存储程序和信息，工作时把信息读取出来，然后发出指令，这样的话机器人可以重复的根据人当时示教的结果，再现出这种动作，比方说汽车的点焊机器人，它只要把这个点焊的过程示教完以后，它总是重复这样一种工作，它对于外界的环境没有感知，这个力操作力的大小，这个工件存在不存在，焊的好与坏，它并不知道，那么实际上这种从第一代机器人，也就存在它这种缺陷，因此，在20世纪70年代后期，人们开始研究第二代机器人，叫带感觉的机器人，这种带感觉的机器人是类似人在某种功能的感觉，比如说力觉、触觉、滑觉、视觉、听觉和人进行相类比，有了各种各样的感觉，比方说在机器人抓一个物体的时候，它实际上力的大小能感觉出来，它能够通过视觉，能够去感受和识别它的形状、大小、颜色。抓一个鸡蛋，它能通过一个触觉，知道它的力的大小和滑动的情况。第三代机器人，也是我们机器人学中一个理想的所追求的最高级的阶段，叫智能机器人，那么只要告诉它做什么，不用告诉它怎么去做，它就能完成运动，感知思维和人机通讯的这种功能和机能，那么这个目前的发展还是相对的只是在局部有这种智能的概念和含义，但真正完整意义的这种智能机器人实际上并没有存在，而只是随着我们不断的科学技术的发展，智能的概念越来越丰富，它内涵越来越宽。 下面我简单介绍一下我国机器人发展的基本概况。由于我们国家存在很多其
管道机器人(英文)
A SIMPLE ARCHITECTURE FOR IN-PIPE INSPECTION ROBOTS Mihaita HORODINCA, Ioan DOROFTEI, Emmanuel MIGNON, André PREUMONT Active Structures Laboratory UNIVERSITE LIBRE DE BRUXELLES Av. F. D. Roosevelt 50, cp 165/42, Brussels, Belgium Phone: (32)2-6504663 Fax: (32)2-6504660 e-mail: andre.preumont@ulb.ac.be Abstract: The paper presents an original robot architecture for in-pipe inspection. The robot consists of two parts articulated with a universal joint. One part is guided along the pipe by a set of wheels moving parallel to the axis of the pipe, while the other part is forced to follow an helical motion thanks to tilted wheels rotating about the axis of the pipe. A single motor is placed between the two bodies to produce the motion. All the wheels are mounted on a suspension to accommodate for changing tube diameter and curves in the pipe. The robot is autonomous and carries its own batteries and radio link. Four different prototypes have been constructed for pipe diameters of 170, 70 and 40 mm, respectively. For smaller diameters, the batteries and the radio receiver may be placed on an additional body attached to the others. The autonomy of the prototypes is about 2 hours. This architecture is very simple and the rotary motion can be exploited to carry out scrubbing or inspection tasks. Keywords: Autonomous mobile robot, In-pipe inspection, Helical motion Introduction Pipe inspection robots have been studied for a long time, and many original locomotion concepts have been proposed to solve the numerous technical difficulties associated with the change in pipe diameter, curves and energy supply. Although an exhaustive review of the literature is impossible due to the limited space available, a few broad categories can be identified: (i) For small size, many projects follow the earthworm principle consisting of a central part moving axially while the two end parts are provided with blocking devices connected temporarily to the pipe. Pneumatic versions of this concept have been proposed (e.g. [1]), but they require an umbilical for power. For smaller diameter (10 mm or less), a piezoelectric actuation has been considered, according to the inchworm principle, or according to an inertial locomotion driven by a saw-tooth wave voltage [2], or using vibrating fins with differential friction coefficients [3]. (ii) For medium size piping, classical electromechanical systems have been proposed with various architectures involving wheels and tracks, with more or less complicated kinematical structures, depending on the diameter adaptability and turning capability (e.g. [4,5]). (iii) For large pipes, walking tube crawlers have also been proposed [6].
外文翻译-多自由度步行机器人
多自由度步行机器人 摘要在现实生活中设计一款不仅可以倒下而且还可以站起来的机器人灵活智能机器人很重要。本文提出了一种两臂两足机器人,即一个模仿机器人,它可以步行、滚动和站起来。该机器人由一个头,两个胳膊和两条腿组成。基于远程控制,设计了双足机器人的控制系统,解决了机器人大脑内的机构无法与无线电联系的问题。这种远程控制使机器人具有强大的计算头脑和有多个关节轻盈的身体。该机器人能够保持平衡并长期使用跟踪视觉,通过一组垂直传感器检测是否跌倒,并通过两个手臂和两条腿履行起立动作。用实际例子对所开发的系统和实验结果进行了描述。 1 引言随着人类儿童的娱乐,对于设计的双足运动的机器人具有有站起来动作的能力是必不可少。 为了建立一个可以实现两足自动步行的机器人,设计中感知是站立还是否躺着的传感器必不可少。两足步行机器人它主要集中在动态步行,作为一种先进的控制问题来对待它。然而,在现实世界中把注意力集中在智能反应,更重要的是创想,而不是一个不会倒下的机器人,是一个倒下来可以站起来的机器人。 为了建立一个既能倒下又能站起来的机器人,机器人需要传感系统就要知道它是否跌倒或没有跌倒。虽然视觉是一个机器人最重要的遥感功能,但由于视觉系统规模和实力的限制,建立一个强大的视觉系统在机器人自己的身体上是困难的。如果我们想进一步要求动态反应和智能推理经验的基础上基于视觉的机器人行为研究,那么机器人机构要轻巧足以够迅速作出迅速反应,并有许多自由度为了显示驱动各种智能行为。至于有腿机器人,只有一个以视觉为基础的
小小的研究。面临的困难是在基于视觉有腿机器人实验研究上由硬件的显示所限制。在有限的硬件基础上是很难继续发展先进的视觉软件。为了解决这些问题和推进基于视觉的行为研究,可以通过建立远程脑的办法。身体和大脑相连的无线链路使用无线照相机和远程控制机器人,因为机体并不需要电脑板,所以它变得更加容易建立一个有许多自由度驱动的轻盈机身。 在这项研究中,我们制定了一个使用远程脑机器人的环境并且使它执行平衡的视觉和起立的手扶两足机器人,通过胳膊和腿的合作,该系统和实验结果说明如下。图 1 远程脑系统的硬件配置图 2 两组机器人的身体结构 2 远程脑系统 远程控制机器人不使用自己大脑内的机构。它留大脑在控制系统中并且与它用无线电联系。这使我们能够建立一个自由的身体和沉重大脑的机器人。身体和大脑的定义软件和硬件之间连接的接口。身体是为了适应每个研究项目和任务而设计的。这使我们提前进行研究各种真实机器人系统。 一个主要利用远程脑机器人是基于超级并行计算机上有一个大型及重型颅脑。虽然硬件技术已经先进了并拥有生产功能强大的紧凑型视觉系统的规模,但是硬件仍然很大。摄像头和视觉处理器的无线连接已经成为一种研究工具。远程脑的做法使我们在基于视觉机器人技术各种实验问题的研究上取得进展。 另一个远程脑的做法的优点是机器人机体轻巧。这开辟了与有腿移动机器人合作的可能性。至于动物,一个机器人有 4 个可以行走的四肢。我们的重点是基于视觉的适应行为的4肢机器人、机械动物,在外地进行试验还没有太多的研究。 大脑是提出的在母体环境中通过接代遗传。大脑和母体可以分享新设计
智能机器人外文翻译
Robot Robot 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 rapid progress with the control economy and expanding of the modern cities, 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 disposal. 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 for lacunaris plastic makes it is a consequent for the plastic producing with automation and high productivity. Therefore, it is very necessary to design a manipulator that can automatically fulfill the plastic holding. 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 arthrosis 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