毕业论文外文翻译-工业机械手
多自由度机械手毕业论文中英文资料外文翻译文献
毕业论文中英文资料外文翻译文献专业机械设计制造及其自动化课题多自由度机械手机械设计英文原文Automated Tracking and Grasping of a Moving Object with a RoboticHand-Eye SystemAbstractMost robotic grasping tasks assume a stationary or fixed object. In this paper, we explore the requirements for tracking and grasping a moving object. The focus of our work is to achieve a high level of interaction between a real-time vision system capable of tracking moving objects in 3-D and a robot arm with gripper that can be used to pick up a moving object. There is an interest in exploring the interplay of hand-eye coordination for dynamic grasping tasks such as grasping of parts on a moving conveyor system, assembly of articulated parts, or for grasping from a mobile robotic system. Coordination between an organism's sensing modalities and motor control system is a hallmark of intelligent behavior, and we are pursuing the goal of building an integrated sensing and actuation system that can operate in dynamic as opposed to static environments.The system we have built addresses three distinct problems in robotic hand-eye coordination for grasping moving objects: fast computation of 3-D motion parameters from vision, predictive control of a moving robotic arm to track a moving object, and interception and grasping. The system is able to operate at approximately human arm movement rates, and experimental results in which a moving model train is tracked is presented, stably grasped, and picked up by the system. The algorithms we have developed that relate sensing to actuation are quite general and applicable to a variety of complex robotic tasks that require visual feedback for arm and hand control.I. INTRODUCTIONThe focus of our work is to achieve a high level of interaction between real-time vision systems capable of tracking moving objects in 3-D and a robot arm equipped with a dexterous hand that can be used to intercept, grasp, and pick up a movingobject. We are interested in exploring the interplay of hand-eye coordination for dynamic grasping tasks such as grasping of parts on a moving conveyor system, assembly of articulated parts, or for grasping from a mobile robotic system. Coordination between an organism's sensing modalities and motor control system is a hallmark of intelligent behavior, and we are pursuing the goal of building an integrated sensing and actuation system that can operate in dynamic as opposed to static environments.There has been much research in robotics over the last few years that address either visual tracking of moving objects or generalized grasping problems. However, there have been few efforts that try to link the two problems. It is quite clear that complex robotic tasks such as automated assembly will need to have integrated systems that use visual feedback to plan, execute, and monitor grasping.The system we have built addresses three distinct problems in robotic hand-eye coordination for grasping moving objects: fast computation of 3-D motion parameters from vision, predictive control of a moving robotic arm to track a moving object, and interception and grasping. The system is able to operate at approximately human arm movement rates, using visual feedback to track, intercept, stably grasp, and pick up a moving object. The algorithms we have developed that relate sensing to actuation are quite general and applicable to a variety of complex robotic tasks that require visual feedback for arm and hand control.Our work also addresses a very fundamental and limiting problem that is inherent in building integrated sensing actuation systems; integration of systems with different sampling and processing rates. Most complex robotic systems are actually amalgams of different processing devices, connected by a variety of methods. For example, our system consists of three separate computation systems: a parallel image processing computer; a host computer that filters, triangulates, and predicts 3-D position from the raw vision data; and a separate arm control system computer that performs inverse kinematic transformations and joint-level servicing. Each of these systems has its own sampling rate, noise characteristics, and processing delays, which need to be integrated to achieve smooth and stable real-time performance. In our case, this involves overcoming visual processing noise and delays with a predictive filter basedupon a probabilistic analysis of the system noise characteristics. In addition, real-time arm control needs to be able to operate at fast servo rates regardless of whether new predictions of object position are available.The system consists of two fixed cameras that can image a scene containing a moving object (Fig. 1). A PUMA-560 with a parallel jaw gripper attached is used to track and pick up the object as it moves (Fig. 2). The system operates as follows:1) The imaging system performs a stereoscopic optic-flow calculation at each pixel in the image. From these optic-flow fields, a motion energy profile is obtained that forms the basis for a triangulation that can recover the 3-D position of a moving object at video rates.2) The 3-D position of the moving object computed by step 1 is initially smoothed to remove sensor noise, and a nonlinear filter is used to recover the correct trajectory parameters which can be used for forward prediction, and the updated position is sent to the trajectory-planner/arm-control system.3) The trajectory planner updates the joint-level servos of the arm via kinematic transform equations. An additional fixed-gain filter is used to provide servo-level control in case of missed or delayed communication from the vision and filtering system.4) Once tracking is stable, the system commands the arm to intercept the moving object and the hand is used to grasp the object stably and pick it up.The following sections of the paper describe each of these subsystems in detail along with experimental results.П. PREVIOUS WORKPrevious efforts in the areas of motion tracking and real-time control are too numerous to exhaustively list here. We instead list some notable efforts that have inspired us to use similar approaches. Burt et al. [9] have focused on high-speed feature detection and hierarchical scaling of images in order to meet the real-time demands of surveillance and other robotic applications. Related work has been reported by. Lee and Wohn [29] and Wiklund and Granlund [43] who uses image differencing methods to track motion. Corke, Paul, and Wohn [13] report afeature-based tracking method that uses special-purpose hardware to drive a servocontroller of an arm-mounted camera. Goldenberg et al. [16] have developed a method that uses temporal filtering with vision hardware similar to our own. Luo, Mullen, and Wessel [30] report a real-time implementation of motion tracking in 1-D based on Horn and Schunk’s method. Vergheseetul. [41] Report real-time short-range visual tracking of objects using a pipelined system similar to our own. Safadi [37] uses a tracking filter similar to our own and a pyramid-based vision system, but few results are reported with this system. Rao and Durrant-Whyte [36] have implemented a Kalman filter-based decentralized tracking system that tracks moving objects with multiple cameras. Miller [31] has integrated a camera and arm for a tracking task where the emphasis is on learning kinematic and control parameters of the system. Weiss et al. [42] also use visual feedback to develop control laws for manipulation. Brown [8] has implemented a gaze control system that links a robotic “head” containing binocular cameras with a servo controller that allows one to maintain a fixed gaze on a moving object. Clark and Ferrier [12] also have implemented a gaze control system for a mobile robot. A variation of the tracking problems is the case of moving cameras. Some of the papers addressing this interesting problem are [9], [15], [44], and [18].The majority of literature on the control problems encountered in motion tracking experiments is concerned with the problem of generating smooth, up-to-date trajectories from noisy and delayed outputs from different vision algorithms.Our previous work [4] coped with that problem in a similar way as in [38], using an cy- p - y filter, which is a form of steady-state Kalman filter. Other approaches can be found in papers by [33], [34], [28], [6]. In the work of Papanikolopoulos et al. [33], [34], visual sensors are used in the feedback loop to perform adaptive robotic visual tracking. Sophisticated control schemes are described which combine a Kalman filter’s estimation and filtering power with an optimal (LQG) controller which computes the robot’s motion. The vision system uses an optic-flow computation based on the SSD (sum of squared differences) method which, while time consuming, appears to be accurate enough for the tracking task. Efficient use of windows in the image can improve the performance of this method. The authors have presented good tracking results, as well as stated that the controller is robust enough so the use ofmore complex (time-varying LQG) methods is not justified. Experimental results with the CMU Direct Drive Arm П show that the methods are quite accurate, robust, and promising.The work of Lee and Kay [28] addresses the problem of uncertainty of cameras in the robot’s coordinate frame. The fact that cameras have to be strictly fixed in robot’s frame might be quite annoying since each time they are (most often incidentally) displaced; one has to undertake a tedious job of their recalibration. Again, the estimation of the moving object’s position and orientation is done in the Cartesian space and a simple error model is assumed. Andersen et al. [6] adopt a 3rd-order Kalman filter in order to allow a robotic system (consisting of two degrees of freedom) to play the labyrinth game. A somewhat different approach has been explored in the work of Houshangi [24] and Koivo et al. [27]. In these works, the autoregressive (AR) and auto grassier moving-average with exogenous input (ARMAX) models are investigated for visual tracking.Ш. VISION SYSTEMIn a visual tracking problem, motion in the imaging system has to be translated into 3-D scene motion. Our approach is to initially compute local optic-flow fields that measure image velocity at each pixel in the image. A variety of techniques for computing optic-flow fields have been used with varying results includingmatching-based techniques [5], [ 10], [39], gradient-based techniques [23], [32], [ 113, and patio-temporal, energy methods [20], [2]. Optic-flow was chosen as the primitive upon which to base the tracking algorithm for the following reasons.·The ability to track an object in three dimensions implies that there will be motion across the retinas (image planes) that are imaging the scene. By identifying this motion in each camera, we can begin to find the actual 3-D motion.·The principal constraint in the imaging process is high computational speed to satisfy the update process for the robotic arm parameters. Hence, we needed to be able to compute image motion quickly and robustly. The Hom-Schunck optic-flow algorithm (described below) is well suited for real-time computation on our PIPE image processing engine.·We have developed a new framework for computing optic-flow robustly using anestimation-theoretic framework [40]. While this work does not specifically use these ideas, we have future plans to try to adapt this algorithm to such a framework.Our method begins with an implementation of the Horn-Schunck method of computing optic-flow [22]. The underlying assumption of this method is theoptic-flow constraint equation, which assumes image irradiance at time t and t+σt will be the same:If we expand this constraint via a Taylor series expansion, and drop second- and higher-order terms, we obtain the form of the constraint we need to compute normal velocity:Where u and U are the velocities in image space, and Ix, Iy,and It are the spatial and temporal derivatives in the image. This constraint limits the velocity field in an image to lie on a straight line in velocity space. The actual velocity cannot be determined directly from this constraint due to the aperture problem, but one can recover the component of velocity normal to this constraint lineA second, iterative process is usually employed to propagate velocities in image neighborhoods, based upon a variety of smoothness and heuristic constraints. These added neighborhood constraints allow for recovery of the actual velocities u,v in the image. While computationally appealing, this method of determining optic-flow has some inherent problems. First, the computation is done on a pixel-by-pixel basis, creating a large computational demand. Second, the information on optic flow is only available in areas where the gradients defined above exist.We have overcome the first of these problems by using the PIPE image processor [26], [7]. The PIPE is a pipelined parallel image processing computer capable of processing 256 x 256 x 8 bit images at frame rate speeds, and it supports the operations necessary for optic-flow computation in a pixel parallel method (a typical image operation such as convolution, warping, addition subtraction of images can be done in one cycle-l/60 s).The second problem is alleviated by our not needing to know the actual velocities in the image. What we need is the ability to locate and quantify gross image motion robustly. This rules out simple differencing methodswhich are too prone to noise and will make location of image movement difficult. Hence, a set of normal velocities at strong gradients is adequate for our task, precluding the need to iteratively propagate velocities in the image.A. Computing Normal Optic-Flow in Real-TimeOur goal is to track a single moving object in real time. We are using two fixed cameras that image the scene and need to report motion in 3-D to a robotic arm control program. Each camera is calibrated with the 3-D scene, but there is no explicit need to use registered (i.e., scan-line coherence) cameras. Our method computes the normal component of optic-flow for each pixel in each camera image, finds a centurion of motion energy for each image, and then uses triangulation to intersect the back-projected centurions of image motion in each camera. Four processors are used in parallel on the PIPE. The processors are assigned as four per camera-two each for the calculation of X and Y motion energy centurions in each image. We also use a special processor board (ISMAP) to perform real-time histogram. The steps below correspond to the numbers in Fig. 3.1) The camera images the scene and the image is sent to processing stages in the PIPE.2) The image is smoothed by convolution with a Gaussian mask. The convolution operator is a built-in operation in the PIPE and it can be performed in one frame cycle. 3-4) In the next two cycles, two more images are read in, smoothed and buffered, yielding smoothed images Io and I1 and I2.The ability to buffer and pipeline images allows temporal operations on images, albeit at the cost of processing delays (lags) on output. There are now three smoothed images in the PIPE, with the oldest image lagging by 3/60 s.5) Images Io and I2, are subtracted yielding the temporal derivative It.6) In parallel with step 5, image I1is convolved with a 3 x 3 horizontal spatial gradient operator, returning the discrete form of I,. In parallel, the vertical spatial gradient is calculated yielding I, (not shown).7-8)The results from steps 5 and 6 are held in buffers and then are input to alook-up table that divides the temporal gradient at each pixel by the absolute value of the summed horizontal and vertical spatial gradients [which approximates thedenominator in (3)]. This yields the normal velocity in the image at each pixel. These velocities are then threshold and any isolated (i.e., single pixel motion energy) blobs are morphologically eroded. The above threshold velocities are then encoded as gray value 255. In our experiments, we threshold all velocities below 10 pixels per 60 ms to zero velocity.9-10) In order to get the centurion of the motion information, we need the X and Y coordinates of the motion energy. For simplicity, we show only the situation for the X coordinate. The gray-value ramp in Fig. 3 is an image that encodes the horizontal coordinate value (0-255) for each point in the image as a gray value.Thus, it is an image that is black (0) at horizontal pixel 0 and white (255) at horizontal pixel 255. If we logically and each pixel of the above threshold velocity image with the ramp image, we have an image which encodes high velocity pixels with their positional coordinates in the image, and leaves pixels with no motion at zero.11) By taking this result and histogram it, via a special stage of the PIPE which performs histograms at frame rate speeds, we can find the centurion of the moving object by finding the mean of the resulting histogram. Histogram the high-velocity position encoded images yields 256 16-bit values (a result for each intensity in the image). These 256 values can be read off the PIPE via a parallel interface in about 10 ms. This operation is performed in parallel to find the moving object’s Y censored (and in parallel for X and Y centurions for camera 2). The total associated delay time for finding the censored of a moving object becomes 15 cycles or 0.25 s.The same algorithm is run in parallel on the PIPE for the second camera. Once the motion centurions are known for each camera, they are back-projected into the scene using the camera calibration matrices and triangulated to find the actual 3-D location of the movement. Because of the pipelined nature of the PIPE, a new X or Y coordinate is produced every 1/60 s with this delay. While we are able to derive 3-D position from motion stereo at real-time rates, there are a number of sources of noise and error inherent in the vision system. These include stereo triangulation error, moving shadow s which are interpreted as object motion (we use no special lighting in the scene), and small shifts in censored alignments due to the different viewing angles of the cameras, which have a large baseline. The net effect of this is to create a 3-Dposition signal that is accurate enough for gross-level object tracking, but is not sufficient for the smooth and highly accurate tracking required for grasping the object.英文翻译自动跟踪和捕捉系统中的机械手系统摘要——许多机器人抓捕任务都被假设在了一个固定的物体上进行。
外文翻译--工业机械手-精品
本科毕业论文（设计）相关中英文翻译资料资料题目：工业机械手设计学生姓名：所在院系：机电学院所学专业：机电技术教育完成时间：Industry manipulatorThe industry manipulator is one kind of high tech automation production equipment which the nearly several dozens years develop, the industry manipulator is an industry robot important branch, its characteristic is may complete each kind of anticipated work task through the programming, has at the same time the human and the machine respective merit in the structure and the performance, has manifested human's intelligence and the compatibility especially, in the manipulator work accuracy and each kind of environment completes the work ability, has the broad prospects for development in the national economy various domains, along with the industrial automation development, appeared the numerical control processing center, it while reduces worker's labor intensity, enhanced the labor productivity greatly, butIn numerical control processing common on yummy treats working procedure, usually still used the manual control or the tradition black-white control semiautomatic installment, the former required a lot of work time-consuming, the efficiency is low, because the latter designed complex, had many relays, the wiring to be numerous and diverse, is vibrated easily the chassis the disturbance, but had the reliability badly, the breakdown many, questions and so on service difficulty, the programmable controller PLC control on yummy treats manipulator control system movement simple, the line design reasonable, had the strong antijamming ability, had guaranteed the system movement reliability, reduced the service rate, enhanced the working efficiency.The manipulator technology involves to mechanics, mechanics, the electrical hydraulic pressure technology, the automatic control technology, the sensor technology and the computer technology and so on, is an interdisciplinary comprehensive technology.The manipulator is one kind can automate the localization control and may program the multi-purpose machines which the foreword changes, it has many degrees of freedom, available transports the object to complete in each different environment works.In wage level low China, plastic product profession although still belonged to the labor force intensity, manipulator's use already more and more popularized, these electronic and automobile industry European and American Multinational corporation was very early on is located in China's factory in them to introduce the automated production, but the present change was these distributes in industry crowded South China, East China coastal area Chinese Native place Plastic Processing factory also starts to the mechanical wristwatch to appear the more and more strong interest, because they had to face the worker rate of personnel loss to be high, as well as the halving belt came challenge.Along with our country industrial production leap development, the automaticity rapid enhancement, realization work piece loading and unloading, welding torch, spray gun, trigger tools and so on changes, the transportation or manages carries on work and so on processing, assembly automations, has brought to people's attention increasingly, simultaneously also requests the feeder construction to be more nimble, the flexibility, adapts for delivers the different goods, this enables for the feeding manipulator in the automaton, to obtain the increasingly widespread application from the generatrix in.In the production may enhance the production using the manipulator the automated level and the labor productivity, may reduce the labor intensity, the guarantee product quality, the realization safety in production, the industry manipulator can replace the human in the industrial production to make certain monotonous, frequent and the redundant long time work, perhaps dangerous, under adverse circumstance work, for example in the ramming, the pressure casting, the heat treatment, the welding, the painting, plastic working procedures and so on in product forming, machine-finishing and simple assembly, as well as in departments and so on in atomic-energy industry, completes to the human body harmful material transportingor the craft operation, as well as aspects and so on light industry, transportation shipping industry obtain the more and more widespread application.工业机械手工业机械手是近几十年发展起来的一种高科技自动化生产设备，工业机械手是工业机器人的一个重要分支，它的特点是可通过编程来完成各种预期的作业任务，在构造和性能上兼有人和机器各自的优点，尤其体现了人的智能和适应性，机械手作业的准确性和各种环境中完成作业的能力，在国民经济各领域有着广阔的发展前景，随着工业自动化的发展，出现了数控加工中心,它在减轻工人的劳动强度的同时，大大提高了劳动生产率，但数控加工中常见的上下料工序，通常仍采用人工操作或传统继电器控制的半自动化装置，前者费时费工、效率低，后者因设计复杂，需较多继电器,接线繁杂，易受车体振动干扰，而存在可靠性差、故障多、维修困难等问题，可编程序控制器PLC控制的上下料机械手控制系统动作简便、线路设计合理、具有较强的抗干扰能力，保证了系统运行的可靠性，降低了维修率，提高了工作效率。
工业机器人中英文翻译、外文文献翻译、外文翻译
工业机器人中英文翻译、外文文献翻译、外文翻译外文原文：RobotAfter more than 40 years of development, since its first appearance till now, the robot has already been widely applied in every industrial fields, and it has become the important standard of industry modernization.Robotics is the comprehensive technologies that combine with mechanics, electronics, informatics and automatic control theory. The level of the robotic technology has already been regarded as the standard of weighing a national modern electronic-mechanical manufacturing technology.Over the past two decades, the robot has been introduced into industry to perform many monotonous and often unsafe operations. Because robots can perform certain basic more quickly and accurately than humans, they are being increasingly used in various manufacturing industries.With the maturation and broad application of net technology, the remote control technology of robot based on net becomes more and more popular in modern society. It employs the net resources in modern society which are already three to implement the operatio of robot over distance. It also creates many of new fields, such as remote experiment, remote surgery, and remote amusement. What's more, in industry, it can have a beneficial impact upon the conversion of manufacturing means.The key words are reprogrammable and multipurpose because most single-purpose machines do not meet these two requirements. The term “reprogrammable” implies two things: The robot operates according to a written program, and this program can be rewritten to accommodate a variety of manufacturing tasks. The term “multipurpose” means that the robot can perform many different functions, depending on the program and tooling currently in use.Developed from actuating mechanism, industrial robot can imitation some actions and functions of human being, which can be used to moving all kinds of material components tools and so on, executing mission by execuatable program multifunctionmanipulator. It is extensive used in industry and agriculture production, astronavigation and military engineering.During the practical application of the industrial robot, the working efficiency and quality are important index of weighing the performance of the robot. It becomes key problems which need solving badly to raise the working efficiencies and reduce errors of industrial robot in operating actually. Time-optimal trajectory planning of robot is that optimize the path of robot according to performance guideline of minimum time of robot under all kinds of physical constraints, which can make the motion time of robot hand minimum between two points or along the special path. The purpose and practical meaning of this research lie enhance the work efficiency of robot.Due to its important role in theory and application, the motion planning of industrial robot has been given enough attention by researchers in the world. Many researchers have been investigated on the path planning for various objectives such as minimum time, minimum energy, and obstacle avoidance.The basic terminology of robotic systems is introduced in the following:A robot is a reprogrammable, multifunctional manipulator designed to move parts, materials, tools, or special devices through variable programmed motions for the performance of a variety of different task. This basic definition leads to other definitions, presented in the following paragraphs that give a complete picture of a robotic system.Preprogrammed locations are paths that the robot must follow to accomplish work. At some of these locations, the robot will stop and perform some operation, such as assembly of parts, spray painting, or welding. These preprogrammed locations are stored in the robot’s memory and are recalled later for continuous operation. Furthermore, these preprogrammed locations, as well as other programming feature, an industrial robot is very much like a computer, where data can be stored and later recalled and edited.The manipulator is the arm of the robot. It allows the robot to bend, reach, and twist. This movement is provided by the manipulator’s axes, also called the degrees of freedom of the robot. A robot can have from 3 to 16 axes. The term degrees of freedom will always relate to the number of axes found on a robot.The tooling and grippers are not part of the robotic system itself: rather, they areattachments that fit on the end of the robot’s arm. These attachments connected to the end of the robot’s arm allow the robot to lift parts, spot-weld, paint, arc-well, drill, deburr, and do a variety of tasks, depending on what is required of the robot.The robotic system can also control the work cell of the operating robot. The work cell of the robot is the total environment in which the robot must perform its task. Included within this cell may be the controller, the robot manipulator, a work table, safety features, or a conveyor. All the equipment that is required in order for the robot to do its job is included in the work cell. In addition, signals from outside devices can communicate with the robot in order to tell the robot when it should assemble parts, pick up parts, or unload parts to a conveyor.The robotic system has three basic components: the manipulator, the controller, and the power source.ManipulatorThe manipulator, which dose the physical work of the robotic system, consists of two sections: the mechanical section and the attached appendage. The manipulator also has a base to which the appendages are attached.The base of the manipulator is usually fixed to the floor of the work area. Sometimes, though, the base may be movable. In this case, the base is attached to either a rail or a track, allowing the manipulator to be moved from one location to anther.As mentioned previously, the appendage extends from the base of the robot. The appendage is the arm of the robot. It can be either a straight, movable arm or a jointed arm. The jointed arm is also known as an articulated arm.The appendages of the robot manipulator give the manipulator its various axes of motion. These axes are attached to a fixed base, which, in turn, is secured to a mounting. This mounting ensures that the manipulator will remain in one location.At the end of the arm, a wrist is connected. The wrist is made up of additional axes and a wrist flange. The wrist flange allows the robot user to connect different tooling to the wrist for different jobs.The manipulator’s axes allow it to perform work within a certain area. This area is called the work cell of the robot, and its size corresponds to the size of the manipulator. As the robot’s physical size increases, the size of the work cell must also increase.The movement of the manipulator is controlled by actuators, or drive system. The actuator, or drive system, allows the various axes to move within the work cell. The drive system can use electric, hydraulic, or pneumatic power. The energy developed by the drive system is converted to mechanical power by various mechanical drive systems. The drive systems are coupled through mechanical linkages. These linkages, in turn, drive the different axes of the robot. The mechanical linkages may be composed of chains, gears, and ball screws.ControllerThe controller in the robotic system is the heart of the operation. The controller stores preprogrammed information for later recall, controls peripheral devices, and communicates with computers within the plant for constant updates in production.The controller is used to control the robot manipulator’s movements as well as to control peripheral components within the work cell. The user can program the movements of the manipulator into the controller through the use of a hand-held teach pendant. This information is stored in the memory of the controller for later recall. The controller stores all program data for the robotic system. It can store several different programs, and any of these programs can be edited.The controller is also required to communicate with peripheral equipment within the work cell. For example, the controller has an input line that identifies when a machining operation is completed. When the machine cycle is completed, the input line turns on, telling the controller to position the manipulator so that it can pick up the finished part. Then, a new part is picked up by the manipulator and placed into the machine. Next, the controller signals the machine to start operation.The controller can be made from mechanically operated drums that step through a sequence of events. This type of controller operates with a very simple robotic system. The controllers found on the majority of robotic systems are more complex devices and represent state-of-the-art electronics. This is, they are microprocessor-operated. These microprocessors are either 8-bit, 16-bit, or 32-bit processors. This power allows the controller to the very flexible in its operation.The controller can send electric signals over communication lines that allow it to talk with the various axes of the manipulator. This two-way communication between therobot manipulator and the controller maintains a constant update of the location and the operation of the system. The controller also controls any tooling placed on the end of the robot’s wrist.The controller also has the job of communicating with the different plant computers. The communication link establishes the robot as part of a computer-assisted manufacturing (CAM) system.As the basic definition stated, the robot is a reprogrammable, multifunctional manipulator. Therefore, the controller must contain some type of memory storage. The microprocessor-based systems operate in conjunction with solid-state memory devices. These memory devices may be magnetic bubbles, random-access memory, floppy disks, or magnetic tape. Each memory storage device stores program information for later recall or for editing.Power supplyThe power supply is the unit that supplies power to the controller and the manipulator. Two types of power are delivered to the robotic system. One type of power is the AC power for operation of the controller. The other type of power is used for driving the various axes of the manipulator. For example, if the robot manipulator is controlled by hydraulic or pneumatic drives, control signals are sent to these devices, causing motion of the robot.For each robotic system, power is required to operate the manipulator. This power can be developed from either a hydraulic power source, a pneumatic power source, or an electric power source. These power sources are part of the total components of the robotic work cell.Classification of RobotsIndustrial robots vary widely in size, shape, number of axes, degrees of freedom, and design configuration. Each factor influences the dimensions of the robot’s working envelope or the volume of space within which it can move and perform its designated task. A broader classification of robots can been described as blew.Fixed and Variable-Sequence Robots. The fixed-sequence robot (also called a pick-and place robot) is programmed for a specific sequence of operations. Its movements are from point to point, and the cycle is repeated continuously. Thevariable-sequence robot can be programmed for a specific sequence of operations but can be reprogrammed to perform another sequence of operation.Playback Robot. An operator leads or walks the playback robot and its end effector through the desired path. The robot memorizes and records the path and sequence of motions and can repeat them continually without any further action or guidance by the operator.Numerically Controlled Robot. The numerically controlled robot is programmed and operated much like a numerically controlled machine. The robot is servo-controlled by digital data, and its sequence of movements can be changed with relative ease.Intelligent Robot. The intellingent robot is capable of performing some of the functions and tasks carried out by human beings. It is equipped with a variety of sensors with visual and tactile capabilities.Robot ApplicationsThe robot is a very special type of production tool; as a result, the applications in which robots are used are quite broad. These applications can be grouped into three categories: material processing, material handling and assembly.In material processing, robots use to process the raw material. For example, the robot tools could include a drill and the robot would be able to perform drilling operations on raw material.Material handling consists of the loading, unloading, and transferring of workpieces in manufacturing facilities. These operations can be performed reliably and repeatedly with robots, thereby improving quality and reducing scrap losses.Assembly is another large application area for using robotics. An automatic assembly system can incorporate automatic testing, robot automation and mechanical handling for reducing labor costs, increasing output and eliminating manual handling concerns.Hydraulic SystemThere are only three basic methods of transmitting power: electrical, mechanical, and fluid power. Most applications actually use a combination of the three methods to obtain the most efficient overall system. To properly determine which principle method to use, it is important to know the salient features of each type. For example, fluidsystems can transmit power more economically over greater distances than can mechanical type. However, fluid systems are restricted to shorter distances than are electrical systems.Hydraulic power transmission systems are concerned with the generation, modulation, and control of pressure and flow, and in general such systems include:1.Pumps which convert available power from the prime mover to hydraulicpower at the actuator.2.Valves which control the direction of pump-flow, the level of powerproduced, and the amount of fluid-flow to the actuators. The power level isdetermined by controlling both the flow and pressure level.3.Actuators which convert hydraulic power to usable mechanical power outputat the point required.4.The medium, which is a liquid, provides rigid transmission and control aswell as lubrication of components, sealing in valves, and cooling of thesystem.5.Connectors which link the various system components, provide powerconductors for the fluid under pressure, and fluid flow return totank(reservoir).6.Fluid storage and conditioning equipment which ensure sufficient quality andquantity as well as cooling of the fluid..Hydraulic systems are used in industrial applications such as stamping presses, steel mills, and general manufacturing, agricultural machines, mining industry, aviation, space technology, deep-sea exploration, transportation, marine technology, and offshore gas and petroleum exploration. In short, very few people get through a day of their lives without somehow benefiting from the technology of hydraulics.The secret of hydraulic system’s success and widespread use is its versatility and manageability. Fluid power is not hindered by the geometry of the machine as is the case in mechanical systems. Also, power can be transmitted in almost limitless quantities because fluid systems are not so limited by the physical limitations of materials as are the electrical systems. For example, the performance of an electromagnet is limited by the saturation limit of steel. On the other hand, the powerlimit of fluid systems is limited only by the strength capacity of the material.Industry is going to depend more and more on automation in order to increase productivity. This includes remote and direct control of production operations, manufacturing processes, and materials handling. Fluid power is the muscle of automation because of advantages in the following four major categories.1.Ease and accuracy of control. By the use of simple levers and push buttons,the operator of a fluid power system can readily start, stop, speed up or slowdown, and position forces which provide any desired horsepower withtolerances as precise as one ten-thousandth of an inch. Fig. shows a fluidpower system which allows an aircraft pilot to raise and lower his landinggear. When the pilot moves a small control valve in one direction, oil underpressure flows to one end of the cylinder to lower the landing gear. To retractthe landing gear, the pilot moves the valve lever in the opposite direction,allowing oil to flow into the other end of the cylinder.2.Multiplication of force. A fluid power system (without using cumbersomegears, pulleys, and levers) can multiply forces simply and efficiently from afraction of an ounce to several hundred tons of output.3.Constant force or torque. Only fluid power systems are capable of providingconstant force or torque regardless of speed changes. This is accomplishedwhether the work output moves a few inches per hour, several hundred inchesper minute, a few revolutions per hour, or thousands of revolutions perminute.4.Simplicity, safety, economy. In general, fluid power systems use fewermoving parts than comparable mechanical or electrical systems. Thus, theyare simpler to maintain and operate. This, in turn, maximizes safety,compactness, and reliability. For example, a new power steering controldesigned has made all other kinds of power systems obsolete on manyoff-highway vehicles. The steering unit consists of a manually operateddirectional control valve and meter in a single body. Because the steering unitis fully fluid-linked, mechanical linkages, universal joints, bearings, reductiongears, etc. are eliminated. This provides a simple, compact system. Inapplications. This is important where limitations of control space require asmall steering wheel and it becomes necessary to reduce operator fatigue.Additional benefits of fluid power systems include instantly reversible motion, automatic protection against overloads, and infinitely variable speed control. Fluid power systems also have the highest horsepower per weight ratio of any known power source. In spite of all these highly desirable features of fluid power, it is not a panacea for all power transmission problems. Hydraulic systems also have some drawbacks. Hydraulic oils are messy, and leakage is impossible to completely eliminate. Also, most hydraulic oils can cause fires if an oil leak occurs in an area of hot equipment.Pneumatic SystemPneumatic system use pressurized gases to transmit and control power. As the name implies, pneumatic systems typically use air (rather than some other gas ) as the fluid medium because air is a safe, low-cost, and readily available fluid. It is particularly safe in environments where an electrical spark could ignite leaks from system components.In pneumatic systems, compressors are used to compress and supply the necessary quantities of air. Compressors are typically of the piston, vane or screw type. Basically a compressor increases the pressure of a gas by reducing its volume as described by the perfect gas laws. Pneumatic systems normally use a large centralized air compressor which is considered to be an infinite air source similar to an electrical system where you merely plug into an electrical outlet for electricity. In this way, pressurized air can be piped from one source to various locations throughout an entire industrial plant. The compressed air is piped to each circuit through an air filter to remove contaminants which might harm the closely fitting parts of pneumatic components such as valve and cylinders. The air then flows through a pressure regulator which reduces the pressure to the desired level for the particular circuit application. Because air is not a good lubricant (contains about 20% oxygen), pneumatics systems required a lubricator to inject a very fine mist of oil into the air discharging from the pressure regulator. This prevents wear of the closely fitting moving parts of pneumatic components.Free air from the atmosphere contains varying amounts of moisture. This moisture can be harmful in that it can wash away lubricants and thus cause excessive wear andcorrosion. Hence, in some applications, air driers are needed to remove this undesirable moisture. Since pneumatic systems exhaust directly into the atmosphere , they are capable of generating excessive noise. Therefore, mufflers are mounted on exhaust ports of air valves and actuators to reduce noise and prevent operating personnel from possible injury resulting not only from exposure to noise but also from high-speed airborne particles.There are several reasons for considering the use of pneumatic systems instead of hydraulic systems. Liquids exhibit greater inertia than do gases. Therefore, in hydraulic systems the weight of oil is a potential problem when accelerating and decelerating and decelerating actuators and when suddenly opening and closing valves. Due to Newton’s law of motion ( force equals mass multiplied by acceleration ), the force required to accelerate oil is many times greater than that required to accelerate an equal volume of air. Liquids also exhibit greater viscosity than do gases. This results in larger frictional pressure and power losses. Also, since hydraulic systems use a fluid foreign to the atmosphere , they require special reservoirs and no-leak system designs. Pneumatic systems use air which is exhausted directly back into the surrounding environment. Generally speaking, pneumatic systems are less expensive than hydraulic systems.However, because of the compressibility of air, it is impossible to obtain precise controlled actuator velocities with pneumatic systems. Also, precise positioning control is not obtainable. While pneumatic pressures are quite low due to compressor design limitations ( less than 250 psi ), hydraulic pressures can be as high as 10,000 psi. Thus, hydraulics can be high-power systems, whereas pneumatics are confined to low-power applications. Industrial applications of pneumatic systems are growing at a rapid pace. Typical examples include stamping, drilling, hoist, punching, clamping, assembling, riveting, materials handling, and logic controlling operations.工业机器人机器人自问世以来到现在，经过了40多年的发展，已被广泛应用于各个工业领域，已成为工业现代化的重要标志。
工业机械手外文文献翻译、中英文翻译
第一章概述1. 1机械手的发展历史人类在改造自然的历史进程中，随着对材料、能源和信息这三者的认识和用，不断创造各种工具（机器），满足并推动生产力的发展。
工业社会向信息社会发展，生产的自动化，应变性要求越来越高，原有机器系统就显得庞杂而不灵活，这时人们就仿造自身的集体和功能，把控制机、动力机、传动机、工作机综合集中成一体，创造了“集成化”的机器系统——机器人。
从而引起了生产系统的巨大变革，成为“人——机器人——劳动对象”，或者“人——机器人——动力机——工作机——劳动对象”。
机器人技术从诞生到现在，虽然只有短短三十几年的历史，但是它却显示了旺盛的生命力。
近年来，世界上对于发展机器人的呼声更是有增无减，发达国家竞相争先，发展中国家急起直追。
许多先进技术国家已先后把发展机器人技术列入国家计划，进行大力研究。
我国的机器人学的研究也已经起步，并把“机器人开发研究”和柔性制造技术系统和设备开发研究等与机器人技术有关的研究课题列入国家“七五”、“八五”科技发展计划以及“八六三”高科技发展计划。
工业机械手是近代自动控制领域中出现的一项新技术，并已经成为现代机械制造生产系统中的一个重要组成部分。
这种新技术发展很快，逐渐形成一门新兴的学科——机械手工程。
1. 2机械手的发展意义机械手的迅速发展是由于它的积极作用正日益为人们所认识：其一、它能部分地代替人工操作；其二、它能按照生产工艺的要求，遵循一定的程序、时间和位置来完成工件的传送和装卸；其三、它能操作必要的机具进行焊接和装配。
从而大大地改善工人的劳动条件，显著地提高劳动生产率，加快实现工业生产机械化和自动化的步伐。
因而，受到各先进工业国家的重视，投入大量的人力物力加以研究和应用。
近年来随着工业自动化的发展机械手逐渐成为一门新兴的学科，并得到了较快的发展。
机械手广泛地应用于锻压、冲压、锻造、焊接、装配、机加、喷漆、热处理等各个行业。
特别是在笨重、高温、有毒、危险、放射性、多粉尘等恶劣的劳动环境中，机械手由于其显著的优点而受到特别重视。
毕业设计机械手外文翻译
外文翻译译文题目 一种与移动机械臂的部分零件所受载荷相协译文题目调的运动结构（2）原稿题目A kinematically compatible framework for cooperative payload transport by nonholonomic mobile manipulators（2）原稿出处 Auton Robot (2006) 21:227–242 原稿出处A kinematically compatible framework for cooperative payload transport by nonholonomic mobile manipulators （2） M. Abou-Samah 1 , C. P. Tang 2 , R. M. Bhatt 2 and V. Krovi 2(1) MSC Software Corporation, Ann Arbor, MI 48105, USA (2) Mechanical (2) Mechanical and and Aerospace Engineering, State University of of New New York at at Buffalo, Buffalo, Buffalo, NY 14260, USA Received: 5 August 2005 Revised: 25 May 2006 Accepted: 30 May 2006 Published online: 5 September 2006 Abstract In this paper, we examine the development of a kinematically compatible control framework for a modular system of wheeled mobile manipulators that can team up to cooperatively transport a common payload. Each individually autonomous mobile manipulator consists of a differentially-driven Wheeled Mobile Robot (WMR) with a mounted two degree-of-freedom (d.o.f) revolute-jointed, planar and passive manipulator arm. The composite wheeled vehicle, formed by placing a payload at the end-effectors of two (or more) such mobile manipulators, has the capability to accommodate, detect and correct both instantaneous and finite relative configuration errors.The kinematically-compatible motion-planning/control framework developed here is intended to facilitate maintenance of all kinematic (holonomic and nonholonomic) constraints within such systems. Given an arbitrary end-effector trajectory, each individual mobile-manipulator's bi-level hierarchical controller first generates a kinematically- feasible desired trajectory for the WMR base, which is then tracked by a suitable lower-level posture stabilizing controller. Two variants of system-level cooperative control schemes schemes——leader-follower and decentralized control control——are then created based on the individual mobile-manipulator control scheme. Both methods are evaluated within an implementation framework that emphasizes both virtual prototyping (VP) and hardware-in-the-loop (HIL) experimentation. Simulation and experimental results of an example of a two-module system are used to highlight the capabilities of a real-time local sensor-based controller for accommodation, detection and corection of relative formation errors. Keywords Composite system-Hardware-in-the-loop-Mobile manipulator- Physical cooperation-Redundancy resolution-Virtual prototypingKinematic collaborationof two mobilemanipulators We now examine two variants of system-level cooperative control schemes schemes——leader-follower and decentralized control control——that can be created based on the individual mobile-manipulator control scheme.Leader-follower approach The first method of modeling such a system considers the midpoint of the mobile base (MP B) of the mobile-manipulator B to be rigidly attached to the end-effector of mobile manipulator A, as depicted in Fig. 4. Figure 4(b) depictshow the end-effector frame {E } of MP A is rigidly attached to the frame at MP B (separated by a constant rotation angle β).(15)Fig. 4 Schematic diagrams of the leader-follower scheme: (a) the 3-link mobile manipulator under analysis, and (b) the two-module composite system MP B now takes on the role of the leader and can be controlled to follow any trajectory trajectory that that is feasible feasible for for a WMR. Hence, given a trajectory trajectory of of the leader MP B , and the preferred manipulator configuration of, Eq. (5) can be rewritten as:(16)and correspondingly Eqs. (6)and correspondingly Eqs. (6)––(8) as:(17)Thus, the trajectory of the virtual (reference) robot for the follower MP A, and the derived velocities can now bedetermined. determined. This This This forms forms forms the the the leader-follower leader-follower leader-follower scheme scheme scheme used used used for for for the the the control control control of of of the the collaborative system carrying a common payload.Decentralized approachThe second second approach approach approach considers considers considers the the frame attached attached to to a point of interest interest on on the common payload as the end-effector frame of both the flanking mobile manipulator systems, as depicted in Fig. 5. Thus, a desired trajectory specified for this payload frame can then provide the desired reference trajectories for the two mobile platforms using the similar framework developedin the previous section by takingand , where . Thispermits Eq. (5) to be rewritten as: (18)Fig. 5 Decentralized control scheme implementation permits the (a) composite system; to be treated as (b) two independent 2-link mobile manipulators and correspondingly Eq. (6)and correspondingly Eq. (6)––(8) as:(19)Each two-link mobile manipulator now controls its configuration with reference to this common end-effector frame mounted on the payload. However, thelocations locations of of of the the the attachments attachments attachments of of of the the the physical physical physical manipulators manipulators manipulators with respect with respect with respect to to to the the payload reference frame must be known apriori.Implementation frameworkWe examine the design and development of a two-stage implementation framework, shown in Fig. 6, that emphasizes both virtual prototyping (VP) based refinement and hardware-in-the-loop (HIL) experimentation.Fig. 6 Paradigm for rapid development and testing of the control scheme on on virtual and physical virtual and physical prototypes Virtual prototyping based refinementIn the first stage, we employ virtual prototyping (VP) tools to rapidly create, evaluate and refine parametric models of the overall system and test various algorithms algorithms in in in simulation simulation simulation within within within a a a virtual virtual virtual environment. environment. environment. 3D 3D 3D solid solid solid models models models of of of the the mobile platforms and the manipulators of interest are created in a CAD package,4 and exported with their corresponding geometric and material properties into a dynamic simulation environment.5 Figure 7(a) shows an example of the application of such framework for simulating the motion of a mobile platformcontrolled controlled by an by an by an algorithm algorithm algorithm implemented implemented implemented in Simulink.in Simulink.6 However, However, it is important it is importantto note that the utility of such virtual testing is limited by: (a) the ability to correctly model and simulate the various phenomena within the virtual environment; (b) the fidelity of the available simulation tools; and (c) ultimately, ultimately, the the the ability ability ability of of of the the the designer designer designer to to to correctly correctly correctly model model model the the the desired desired desired system system and suitably interpret the results.Fig. 7 A single WMR base undergoing testing within the (a) virtual prototyping framework; and (b) hardware-in-the-loop (HIL) testing framework Hardware-in-the-loop experimentationWe employ a hardware-in-the-loop (HIL) methodology for rapid experimental verification of the real-time controllers on the electromechanical mobile manipulator prototypes. Each individual WMR is constructed using two powered wheels and two unactuated casters. Conventional disc-type rear wheels, powered by gear-motors, are chosen because of robust physical construction and ease of operation in the presence of terrain irregularities. Passive ball casters are preferred over wheel casters to simplify the constraints on maneuverability introduced by the casters. The mounted manipulator arm has two passive revolute joints with axes of rotation parallel to each other and perpendicular to the base of the mobile platform. The first joint is placed appropriately at the geometric center on top frame of the platform. The location of the second joint can be adjusted to any position along the slotted first link. The second link itself is reduced to a flat plate supported by the second joint. Each joint is instrumented instrumented with with optical encoder that can measure the joint rotations. The completely assembled two-link mobile manipulator is shown in Fig. 1(c). The second mobile manipulator (see left module of Fig. 1(b) and (d)) employs the same same overall overall overall design design design but but possesses possesses a a motor motor at at the the base base base joint joint joint of of of the the mounted two-link arm. The motor may be used to control the joint two-link arm. The motor may be used to control the joint motion along a motion along a predetermined trajectory (which can include braking/holding the joint at a predetermined predetermined position). position). position). When When When the the the motor motor motor is is is switched switched switched off off off the the the joint joint joint now now now reverts reverts to a passive joint (with much greater damping). The motor is included for permitting future force-redistribution studies. In this paper, however, the motor is used solely to lock the joint prevent self-motions self-motions of of the articulated linkage for certain pathological cases (Bhatt et al., 2005; Tang and Krovi, 2004). PWM-output motor driver cards are used to drive the gearmotors; and encoder cards monitor the encoders instrumenting the various articulated arms. This embedded controller controller communicates communicates communicates with with a designated designated host host computer using TCP/IP for program download and data logging. The host computer withMATLAB/Simulink/Real Time Workshop 8 provides a convenient graphical userinterface environment for system-level software development using a block-diagrammatic language. The compiled executable is downloaded over the network and executes in real-time on the embedded controller while accessing locally installed hardware components.In particular, the ability to selectively test components/systems at various levels (e.g. individual motors, individual WMRs or entire systems) without wearing out components during design iterations was very useful. Figure 7(b) illustrates the implementation of such a system on one of the WMRs. Numerous calibration, simulation and experimental studies carried out with this framework, at the individual-level and system-level, are reported in Abou-Samah (2001).Experimental resultsFor the subsequent experiments,99we prescribe the initial configuration configuration of of the two-module composite system, as shown in Fig. 8. Specifically, we position thetwo two WMRs such WMRs such WMRs such that MP that MP that MP A is A is A is located located located at a relative position of at a relative position of ,and with a relative orientation difference of with respect to MP B.For fixed link-lengths this inherently specifies the values of the various configuration angles as shown in Table 1.Table 1 Parameters for the initial configuration of the two-module composite wheeled system (see Fig. 8 for details) Link lengths of the articulationL 1 0.28 0.28 m m m (11 (11 (11 in) in)L 2 0.28 0.28 m m m (11 (11 (11 in) in) Relative angles of the configuration of thearticulationL 3 0.28 0.28 m m m (11 (11 (11 in) in)φ 1 333333.98°.98°.98°φ 2 280.07°280.07°φ 3 337.36°337.36° Offset between the wheeled mobile basesφ 4 128.59°128.59°δ 0.00°0.00°0.00 m (0 in)0.61 0.61 m m m (24 (24 (24 in) in)Fig. 8 Initial configuration of the two-module composite wheeled system Leader-follower approachA straight line trajectory at a velocity of 0.0254 m/s is prescribed for the leader, MP B. Given a desired configuration of the manipulator arm, the algorithm algorithm described in described in described in Section 4.1 Section 4.1 Section 4.1 is used is used is used to to to obtain a desired obtain a desired obtain a desired trajectory for trajectory for MP A. A large disruption is intentionally introduced by causing one of the wheels of MP A to run over a bump, to evaluate the effectiveness of wheels of MP A to run over a bump, to evaluate the effectiveness of the the disturbance accommodation, detection and compensation.The results are examined in two case scenarios examined in two case scenarios –– Case A: MP A employs odometric estimation for localization as seen in Fig. 9, and Case B: MP A employs sensed articulations for localization as seen in Fig. as seen in Fig. 1010. In each of these figures, (a) presents the overall -trajectory of {M } of MPA with respect to the end-effector frame {E } (that is rigidly attached to the {M } of MPB) while (b), (c) and (d) present the relative orientation difference, X -difference and Y -difference as functions of time. Further in both sets of figures, the ‘Desired’ (––(–– line) is the desired trajectory typically computed offline; and ‘Actual’ (–o – line) is the actual trajectory followed by the system, as determined by post-processing the measurements of the instrumented articulations.However, in Fig. However, in Fig. 99, the (, the (––x – line) represents the odometric estimate while in Fig. in Fig. 1010 it stands for the articulation based estimate (which therefore coincides with the ‘Actual’ (–coincides with the ‘Actual’ (–o o – line) trajectory).Fig. 9 Case A: Odometric Estimation of Frame M, used in the control of MP A following MPB in a leader-follower approach, is unable to detect non-systematic errors such as wheel-slip. (a) XY trajectory of Frame M; (b) Orientation versus Time; (c) X position of Frame M versus Time; and (d) Y position of Frame M versus Time Fig. 10 Case B: Articulation based Estimation of Frame M, used for control of MPA with respect to MP B in a leader-follower approach is able to detect and correct non-systematic errors such as wheel-slip. slip. (a) (a) XY trajectory of Frame M; (b) Orientation versus Time; (c) X position of Frame M versus time; and (d) Y position of Frame M versus time In Case A, the introduction of the disruption causes a drift in the relative configuration of the system which remains undetected by the odometric estimation. Further, as seen in Fig. 9, this drift has a tendency to grow if left uncorrected. However, as seen in Fig. 10, the system can use the articulation-based articulation-based estimation estimation estimation (Case (Case (Case B) B) B) to to not only only detect detect detect disturbances disturbances disturbances to to to the the relative configuration but also to successfully restore the original system configuration.Decentralized control approachIn this decentralized control scenario, a straight line trajectory with a velocity of 0.0254 m/s is presented for the payload frame. As in the leader-follower scenario, a large disruption is introduced by causing one of the wheels of MP A to run over a bump. The algorithm is tested using two further case scenarios scenarios——Case Case C:C: Both mobile mobile platforms platforms platforms employ employ odometric odometric estimation estimation estimation for for localization as shown in Fig. as shown in Fig. 1111, and Case D: Both mobile platforms employsensed articulations for localization as shown in Fig. as shown in Fig. 1212.Fig. 11 Case C: Odometric estimation of frames M of MP A and MP B, used in the control of MP A with respect to MP B in the decentralized approach, is again unable to detect non-systematic errors such as wheel-slip. (a) XY trajectory of frame M of MP A; (b) XY trajectory of frame M of MP B; (c) Relative orientation, between MP A and MP B, versus time; (d) X distance, between MP A and MP B, versus time; and (e) Y distance, between MP A and MP B, versus time. (f) Sequential photographs of the corresponding composite system motion (as time progresses from left to right along each row)Fig. 12 Case D: Articulation based estimation of frames M of MP A and MP B, used for the control of MP A and MP B with respect to a payload-fixed frame is able to detect and correct non-systematic errors such as wheel-slip. (a) XY trajectory of frame M of MP A; (b) XY trajectory of frame M of MP B; (c) Relative orientation, between MP A and MP B, versus time; (d) X distance, between MP A and MP B, versus time; and (e) Y distance, between MP A and MP B, versus time. (f) Sequential photographs of the corresponding composite system motion (as time progresses from left to right along each row) In In each each each of of of these these these figures, figures, figures, subplots subplots subplots (a) (a) (a) and and and (b) (b) (b) presents presents presents the the the overall overalltrajectories trajectories of of frames frames {{M } of MP A and MP B respectively respectively with with with respect respect respect to to their initial poses. Subplots (c), (d) and (e) present the relative orientation difference, X -difference and Y -difference of frames {M } of MP A and MP B respectively as functions of time. Further in both sets of figures, the ‘Desired’ ‘Desired’ (––(––(–– line) is the desired trajectory trajectory typically typically computed offline; and ‘Actual’ (–and ‘Actual’ (–o o – line) is the actual trajectory followed by the system, as determined by post-processing the measurements of the instrumented articulations. articulations. However, However, However, in in in Fig. Fig. Fig. 1111, the (–x – line) line) represents represents represents the the odometric estimate while in Fig. estimate while in Fig. 1212 it stands for the articulation based estimate.In Case C, both mobile platforms use the odometric estimation for localization —hence hence as as as expected, expected, expected, Fig. Fig. Fig. 1111 reflects reflects the the the fact fact fact that that that the the the system system system is is unable unable to to to detect detect detect or or or correct correct correct for for for changes changes changes in in in the the the relative relative relative system system system configuration. configuration. However the data obtained from the articulations accurately captures theexistence of errors between the frames of reference of MP B and MP A. Thus, using the articulation-based articulation-based estimation estimation of relative configuration for control as in Case D allows the detection of disturbances and successful restoration of the original system configuration configuration as as shown in Fig. 12. Note, however, however, while while the relative system configuration is maintained, errors relative to a global reference frame cannot be detected if both WMRs undergo identical simultaneous disturbances . Detection of such absolute errors would require an external reference and is beyond the scope of the existing framework.ConclusionIn this paper, we examined the design, development and validation of a kinematically compatible framework for cooperative transport of a common payload payload by by by a a team team of of nonholonomic nonholonomic mobile mobile mobile manipulators. manipulators. manipulators. Each Each Each individual individual individual mobile mobile manipulator module consists of a differentially driven wheeled WMR retrofitted with with a a a passive passive passive two two two revolute revolute revolute jointed jointed jointed planar planar planar manipulator manipulator manipulator arm. arm. arm. A composite A composite A composite multi multi degree-of-freedom degree-of-freedom vehicle vehicle system could then be modularly created by attaching a common payload on the end-effector of two or more such modules.The composite composite system system allowed payload trajectory tracking errors, arising from subsystem controller errors or environmental disturbances, to be readily accommodated within the compliance offered by the articulated linkage. The individual mobile manipulators compensated by modifying their WMR bases’ motion plans to ensure prioritized satisfaction of the nonholonomic constraints. constraints. The The stabilizing controllers of the WMR bases could then track the recomputed “desired motion plans” to help restore the system system-configuration. -configuration. This scheme not only explicitly ensured maintenance of the kinematic compatibility constraints within the system but is also well suited for an online sensor-based motion planning implementation.This This algorithm was algorithm was algorithm was then then then adapted to adapted to adapted to create two create two create two control schemes for control schemes for the overall composite system — the leader follower approach and the decentralized approach. We evaluated both approaches within an implementation framework that emphasized both, virtual prototyping and hardware-in-the-loop using the case-study of a two module composite system. Experimental results verified the ability of the composite system with sensed articulations to not only accommodate instantaneous disturbances due to terrain irregularities but also to to detect detect detect and and and correct correct correct drift drift drift in in in the the the relative relative relative system system system configuration. configuration. configuration. The The The overall overall framework readily facilitates generalization to treat larger systems with many more mobile manipulator modules.Appendix AThe kinematic constraint equations shown in Eq. (3) may be written in the general form as:(20)Then the velocity constraint equation can be written as:(21)The general solution to this differential equation is:(22)By appropriate selection of the initial conditions within the experimentalsetup, one can create the condition , i.e., exactly satisfying the constraint at the initial time, which then permits the constraint constraint to be to be to be satisfied satisfied satisfied for all for all for all time. However, time. However, time. However, one could also one could also one could also enhance this enhance this process by adding another term to the right-hand-side of Eq. (21) as:(23)where Φ is a positive-definite positive-definite constant constant matrix. This results in a first order stable system:(24)whose solution for any arbitrary initial configuration is:(25)In such systems, there is no longer a requirement to enforcesince the solution exponentially stabilizes to regardless of the initial conditions. This feature could potentially be easily added to transform Eq. (5) to further improve overall performance, but was not required. ReferencesAbou-Samah, M. 2001. A kinematically compatible framework for collaboration of multiple non-holonomic wheeled mobile robots. M. Eng. Thesis, McGill University, Montreal, Canada. Abou-Samah, Abou-Samah, M. M. M. and and and Krovi, Krovi, Krovi, V. V. V. 2002. 2002. 2002. Optimal Optimal Optimal configuration configuration configuration selection selection selection for for for a a a cooperating cooperating cooperating system system system of of mobile manipulators. In P roceedings Proceedings of the 2002 ASME Design Engineering Technical Conferences , DETC2002/MECH-34358, Montreal, QC, Canada. 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Schenker, P .S., Huntsberger, T.L., Pirjanian, P ., Trebi-Ollennu, A., Das, H., Joshi, S., Aghazarian, H., Ganino, A.J., Kennedy, B.A., and Garrett, M.S. 2000. Robot work crews for planetary outposts: Close cooperation and coordination of multiple mobile robots. In Procedings of SPIE Symposium on Sensor Fusion and Decentralized Control in Robotic Systems III , Boston, MA. Seraji, Seraji, H. H. H. 1998. 1998. 1998. A A A unified unified unified approach approach approach to to to motion motion motion control control control of of of mobile mobile mobile manipulators. manipulators. The International Journal of Robotics Research, 17(2):107, 17(2):107–118. Spletzer, J., Das, A.K., Fierro, C.J., Kumar, V., and Ostrowski, J.P. 2001. Cooperative localization and control for multi-robot manipulation. In Procedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, Hawaii, USA, pp. 631–636. Stilwell, Stilwell, D.J. D.J. D.J. and and and Bay, Bay, Bay, J.S. J.S. J.S. 1993. 1993. 1993. Towards Towards Towards the the the development development development of of of a a a material material material transport transport transport system system system using using swarms of ant-like robots. In Procedings of the 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems, Atlanta, GA, pp. 766, Atlanta, GA, pp. 766–771. Tang, C.P . 2004. Manipulability-based analysis of cooperative payload transport by robot collectives. M.S. Thesis, University at Buffalo, Buffalo, NY . Tang, C.P . and Krovi, V. 2004. Manipulability-based configuration evaluation of cooperative payload transport by by mobile mobile robot collectives. In Proceedings of the 2004 ASME Design Engineering Technical Conferences and Computers and Information in Engineering Conference , DETC2004-57476, Salt Lake City, UT, USA. Tanner, H.G., Kyriakopoulos, K.J., and Krikelis, N.I. 1998. Modeling of multiple mobile manipulators handling a common deformable object. Journal of Robotic Systems, 15(11):599, 15(11):599, 15(11):599––623. Wang, Z.-D., Nakano, E., and Matsukawa, T. 1994. Cooperating multiple behavior-based robots for object manipulation. In 1994 1994 IEEE/RSJ International Conference on Intelligent Robots and Systems . Whitney, Whitney, D.E. D.E. D.E. 1969. 1969. 1969. Resolved Resolved Resolved motion motion motion rate rate rate control control control of of of manipulators manipulators manipulators and and and human human human prostheses. prostheses. IEEE Transactions on Man-Machine Systems, MMS-10;47, MMS-10;47–53. Yamamoto, Y. 1994. Control and coordination of locomotion and manipulation of a wheeled mobile manipulator. Ph.D. Thesis, University of Pennsylvania, Philadelphia, PA. Yamamoto, Y . and Yun, X. 1994. Coordinating locomotion and manipulation of a mobile manipulator. IEEE Transactions on Automatic Control, 39(6):1326–1332. Footnotes 1．R indicates revolute joint. RRR indicates serial linkages connected by three revolute joints. 2．We denote “desired ” quantities using superscript d in the rest of the paper. 3．Reference robot variables are denoted using superscript r and actual robot variables without any superscript for the rest of the paper. 4．SolidWorks TM was the CAD package used for this work. 5．MSC Visual Nastran TM was the dynamic simulation environment used for this work. 。
机械手类毕业设计外文文献翻译
毕业设计(论文)外文资料翻译系别：专业：班级：姓名：学号：外文出处：附件： 1. 原文； 2. 译文2013年03月附件一：A Rapidly Deployable Manipulator SystemChristiaan J.J. Paredis, H. Benjamin Brown, Pradeep K. KhoslaAbstract:A rapidly deployable manipulator system combines the flexibility of reconfigurable modular hardware with modular programming tools, allowing the user to rapidly create a manipulator which is custom-tailored for a given task. This article describes two main aspects of such a system, namely, the Reconfigurable Modular Manipulator System (RMMS)hardware and the corresponding control software.1 IntroductionRobot manipulators can be easily reprogrammed to perform different tasks, yet the range of tasks that can be performed by a manipulator is limited by mechanicalstructure.Forexample, a manipulator well-suited for precise movement across the top of a table would probably no be capable of lifting heavy objects in the vertical direction. Therefore, to perform a given task,one needs to choose a manipulator with an appropriate mechanical structure.We propose the concept of a rapidly deployable manipulator system to address the above mentioned shortcomings of fixed configuration manipulators. As is illustrated in Figure 1, a rapidly deployable manipulator system consists of software and hardware that allow the user to rapidly build and program a manipulator which is customtailored for a given task.The central building block of a rapidly deployable system is a Reconfigurable Modular Manipulator System (RMMS). The RMMS utilizes a stock of interchangeable link and joint modules of various sizes and performance specifications. One such module is shown in Figure 2. By combining these general purpose modules, a wide range of special purpose manipulators can be assembled. Recently, there has been considerable interest in the idea of modular manipulators [2, 4, 5, 7, 9, 10, 14], for research applications as well as for industrial applications. However, most of these systems lack the property of reconfigurability, which is key to the concept of rapidly deployable systems. The RMMS is particularly easy toreconfigure thanks to its integrated quick-coupling connectors described in Section 3.Effective use of the RMMS requires, Task Based Design software. This software takes as input descriptions of the task and of the available manipulator modules; it generates as output a modular assembly configuration optimally suited to perform the given task. Several different approaches have been used successfully to solve simpli-fied instances of this complicated problem.A third important building block of a rapidly deployable manipulator system is a framework for the generation of control software. To reduce the complexity of softwaregeneration for real-time sensor-based control systems, a software paradigm called software assembly has been proposed in the Advanced Manipulators Laboratory at CMU.This paradigm combines the concept of reusable and reconfigurable software components, as is supported by the Chimera real-time operating system [15], with a graphical user interface and a visual programming language, implemented in OnikaA lthough the software assembly paradigm provides thesoftware infrastructure for rapidly programming manipulator systems, it does not solve the programming problem itself. Explicit programming of sensor-based manipulator systems is cumbersome due to the extensive amount of detail which must be specified for the robot to perform the task. The software synthesis problem for sensor-based robots can be simplified dramatically, by providing robust robotic skills, that is, encapsulated strategies for accomplishing common tasks in the robots task domain [11]. Such robotic skills can then be used at the task level planning stage without having to consider any of the low-level detailsAs an example of the use of a rapidly deployable system,consider a manipulator in a nuclear environment where it must inspect material and space for radioactive contamination, or assemble and repair equipment. In such an environment, widely varied kinematic (e.g., workspace) and dynamic (e.g., speed, payload) performance is required, and these requirements may not be known a priori. Instead of preparing a large set of different manipulators to accomplish these tasks—an expensive solution—one can use a rapidly deployable manipulator system. Consider the following scenario: as soon as a specific task is identified, the task based design software determinesthe task. This optimal configuration is thenassembled from the RMMS modules by a human or, in the future, possibly by anothermanipulator. The resulting manipulator is rapidly programmed by using the software assembly paradigm and our library of robotic skills. Finally,the manipulator is deployed to perform its task.Although such a scenario is still futuristic, the development of the reconfigurable modular manipulator system, described in this paper, is a major step forward towards our goal of a rapidly deployable manipulator system.Our approach could form the basis for the next generation of autonomous manipulators, in which the traditional notion of sensor-based autonomy is extended to configuration-based autonomy. Indeed, although a deployed system can have all the sensory and planning information it needs, it may still not be able to accomplish its task because the task is beyond the system’s physical capabilities. A rapidly deployable system, on the other hand, could adapt its physical capabilities based on task specifications and, with advanced sensing, control, and planning strategies, accomplish the task autonomously.2 Design of self-contained hardware modulesIn most industrial manipulators, the controller is a separate unit housing the sensor interfaces, power amplifiers, and control processors for all the joints of the manipulator.A large number of wires is necessary to connect this control unit with the sensors, actuators and brakes located in each of the joints of the manipulator. The large number of electrical connections and the non-extensible nature of such a system layout make it infeasible for modular manipulators. The solution we propose is to distribute the control hardware to each individual module of the manipulator. These modules then become self-contained units which include sensors, an actuator, a brake, a transmission, a sensor interface, a motor amplifier, and a communication interface, as is illustrated in Figure 3. As a result, only six wires are requiredfor power distribution and data communication.2.1 Mechanical designThe goal of the RMMS project is to have a wide variety of hardware modules available. So far, we have built four kinds of modules: the manipulator base, a link module, three pivot joint modules (one of which is shown in Figure 2), and one rotate joint module. The base module and the link module have no degrees-of-freedom; the joint modules have onedegree-of-freedom each. The mechanical design of the joint modules compactly fits aDC-motor, a fail-safe brake, a tachometer, a harmonic drive and a resolver.The pivot and rotate joint modules use different outside housings to provide the right-angle or in-line configuration respectively, but are identical internally. Figure 4 shows in cross-section the internal structure of a pivot joint. Each joint module includes a DC torque motor and 100:1 harmonic-drive speed reducer, and is rated at a maximum speed of 1.5rad/s and maximum torque of 270Nm. Each module has a mass of approximately 10.7kg. A single, compact, X-type bearing connects the two joint halves and provides the needed overturning rigidity. A hollow motor shaft passes through all the rotary components, and provides achannel for passage of cabling with minimal flexing.2.2 Electronic designThe custom-designed on-board electronics are also designed according to the principle of modularity. Each RMMS module contains a motherboard which provides the basic functionality and onto which daughtercards can be stacked to add module specific functionality.The motherboard consists of a Siemens 80C166 microcontroller, 64K of ROM, 64K of RAM, an SMC COM20020 universal local area network controller with an RS-485 driver, and an RS-232 driver. The function of the motherboard is to establish communication with the host interface via an RS-485 bus and to perform the lowlevel control of the module, as is explained in more detail in Section 4. The RS-232 serial bus driver allows for simple diagnostics and software prototyping.A stacking connector permits the addition of an indefinite number of daughtercards with various functions, such as sensor interfaces, motor controllers, RAM expansion etc. In our current implementation, only modules with actuators include a daughtercard. This card contains a 16 bit resolver to digital converter, a 12 bit A/D converter to interface with the tachometer, and a 12 bit D/A converter to control the motor amplifier; we have used an ofthe-shelf motor amplifier (Galil Motion Control model SSA-8/80) to drive the DC-motor. For modules with more than one degree-of-freedom, for instance a wrist module, more than one such daughtercard can be stacked onto the same motherboard.3 Integrated quick-coupling connectorsTo make a modular manipulator be reconfigurable, it is necessary that the modules can be easily connected with each other. We have developed a quick-coupling mechanism with which a secure mechanical connection between modules can be achieved by simply turning a ring handtight; no tools are required. As shown in Figure 5, keyed flanges provide precise registration of the two modules. Turning of the locking collar on the male end produces two distinct motions: first the fingers of the locking ring rotate (with the collar) about 22.5 degrees and capture the fingers on the flanges; second, the collar rotates relative to the locking ring, while a cam mechanism forces the fingers inward to securely grip the mating flanges. A ball- transfer mechanism between the collar and locking ring automatically produces this sequence of motions.At the same time the mechanical connection is made,pneumatic and electronic connections are also established. Inside the locking ring is a modular connector that has 30 male electrical pins plus a pneumatic coupler in the middle. These correspond to matching female components on the mating connector. Sets of pins are wired in parallel to carry the 72V-25A power for motors and brakes, and 48V–6A power for the electronics. Additional pins carry signals for two RS-485 serial communication busses and four video busses. A plastic guide collar plus six alignment pins prevent damage to the connector pins and assure proper alignment. The plastic block holding the female pins can rotate in the housing to accommodate the eight different possible connection orientations (8@45 degrees). The relative orientation is automatically registered by means of an infrared LED in the female connector and eight photodetectors in the male connector.4 ARMbus communication systemEach of the modules of the RMMS communicates with a VME-based host interface over a local area network called the ARMbus; each module is a node of the network. The communication is done in a serial fashion over an RS-485 bus which runs through the length of the manipulator. We use the ARCNET protocol [1] implemented on a dedicated IC (SMC COM20020). ARCNET is a deterministic token-passing network scheme which avoids network collisions and guarantees each node its time to access the network. Blocks ofinformation called packets may be sent from any node on the network to any one of the other nodes, or to all nodes simultaneously (broadcast). Each node may send one packet each time it gets the token. The maximum network throughput is 5Mb/s.The first node of the network resides on the host interface card, as is depicted in Figure 6. In addition to a VME address decoder, this card contains essentially the same hardware one can find on a module motherboard. The communication between the VME side of the card and the ARCNET side occurs through dual-port RAM.There are two kinds of data passed over the local area network. During the manipulator initialization phase, the modules connect to the network one by one, starting at the base and ending at the end-effector. On joining the network, each module sends a data-packet to the host interface containing its serial number and its relative orientation with respect to the previous module. This information allows us to automatically determine the current manipulator configuration.During the operation phase, the host interface communicates with each of the nodes at 400Hz. The data that is exchanged depends on the control mode—centralized or distributed. In centralized control mode, the torques for all the joints are computed on the VME-based real-time processing unit (RTPU), assembled into a data-packet by the microcontroller on the host interface card and broadcast over the ARMbus to all the nodes of the network. Each node extracts its torque value from the packet and replies by sending a data-packet containing the resolver and tachometer readings. In distributed control mode, on the other hand, the host computer broadcasts the desired joint values and feed-forward torques. Locally, in each module, the control loop can then be closed at a frequency much higher than 400Hz. The modules still send sensor readings back to the host interface to be used in the computation of the subsequent feed-forward torque.5 Modular and reconfigurable control softwareThe control software for the RMMS has been developed using the Chimera real-time operating system, which supports reconfigurable and reusable software components [15]. The software components used to control the RMMS are listed in Table 1. The trjjline, dls, and grav_comp components require the knowledge of certain configuration dependent parametersof the RMMS, such as the number of degrees-of-freedom, the Denavit-Hartenberg parameters etc. During the initialization phase, the RMMS interface establishes contact with each of the hardware modules to determine automatically which modules are being used and in which order and orientation they have been assembled. For each module, a data file with a parametric model is read. By combining this information for all the modules, kinematic and dynamic models of the entire manipulator are built.After the initialization, the rmms software component operates in a distributed control mode in which the microcontrollers of each of the RMMS modules perform PID control locally at 1900Hz. The communication between the modules and the host interface is at 400Hz, which can differ from the cycle frequency of the rmms software component. Since we use a triple buffer mechanism [16] for the communication through the dual-port RAM on the ARMbus host interface, no synchronization or handshaking is necessary.Because closed form inverse kinematics do not exist for all possible RMMS configurations, we use a damped least-squares kinematic controller to do the inverse kinematics computation numerically..6 Seamless integration of simulationTo assist the user in evaluating whether an RMMS con- figuration can successfully complete a given task, we have built a simulator. The simulator is based on the TeleGrip robot simulation software from Deneb Inc., and runs on an SGI Crimson which is connected with the real-time processing unit through a Bit3 VME-to-VME adaptor, as is shown in Figure 6.A graphical user interface allows the user to assemble simulated RMMS configurations very much like assembling the real hardware. Completed configurations can be tested and programmed using the TeleGrip functions for robot devices. The configurations can also be interfaced with the Chimera real-time softwarerunning on the same RTPUs used to control the actual hardware. As a result, it is possible to evaluate not only the movements of the manipulator but also the realtime CPU usage and load balancing. Figure 7 shows an RMMS simulation compared with the actual task execution.7 SummaryWe have developed a Reconfigurable Modular Manipulator System which currently consists of six hardware modules, with a total of four degrees-of-freedom. These modules can be assembled in a large number of different configurations to tailor the kinematic and dynamic properties of the manipulator to the task at hand. The control software for the RMMS automatically adapts to the assembly configuration by building kinematic and dynamic models of the manipulator; this is totally transparent to the user. To assist the user in evaluating whether a manipulator configuration is well suited for a given task, we have also built a simulator.AcknowledgmentThis research was funded in part by DOE under grant DE-F902-89ER14042, by Sandia National Laboratories under contract AL-3020, by the Department of Electrical and Computer Engineering, and by The Robotics Institute, Carnegie Mellon University.The authors would also like to thank Randy Casciola, Mark DeLouis, Eric Hoffman, and Jim Moody for their valuable contributions to the design of the RMMS system.附件二：可迅速布置的机械手系统作者：Christiaan J.J. Paredis, H. Benjamin Brown, Pradeep K. Khosla摘要：一个迅速可部署的机械手系统，可以使再组合的标准化的硬件的灵活性用标准化的编程工具结合，允许用户迅速建立为一项规定的任务来通常地控制机械手。
外文翻译机械手英文
外文原文ManipulatorRobot developed in recent decades as high-tech automated production equipment. Industrial manipulator is an important branch of industrial robots. It features can be programmed to perform tasks in a variety of expectations, in both structure and performance advantages of their own people and machines, in particular, reflects the people's intelligence and adaptability. The accuracy of robot operations and a variety of environments the ability to complete the work in the field of national economy and there are broad prospects for development. With the development of industrial automation, there has been CNC machining center, it is in reducing labor intensity, while greatly improved labor productivity. However, the upper and lower common in CNC machining processes material, usually still use manual or traditional relay-controlled semi-automatic device. The former time-consuming and labor intensive, inefficient; the latter due to design complexity, require more relays, wiring complexity, vulnerability to body vibration interference, while the existence of poor reliability, fault more maintenance problems and other issues. Programmable Logic Controller PLC-controlled robot control system for materials up and down movement is simple, circuit design is reasonable, with a strong anti-jamming capability, ensuring the system's reliability, reduced maintenance rate, and improve work efficiency. Robot technology related to mechanics, mechanics, electrical hydraulic technology, automatic control technology, sensor technology and computer technology and other fields of science, is a cross-disciplinary integrated technology.First, an overview of industrial manipulatorRobot is a kind of positioning control can be automated and can be re-programmed to change in multi-functional machine, which has multiple degrees of freedom can be used to carry an object in order to complete the work in different environments. Low wages in China, plastic products industry, although still a labor-intensive, mechanical hand use has become increasingly popular. Electronics and automotive industries that Europe and the United States multinational companies very early in their factories in China, the introduction of automated production. But now the changes arethose found in industrial-intensive South China, East China's coastal areas, local plastic processing plants have also emerged in mechanical watches began to become increasingly interested in, because they have to face a high turnover rate of workers, as well as for the workers to pay work-related injuries fee challenges.With the rapid development of China's industrial production, especially the reform and opening up after the rapid increase in the degree of automation to achieve the workpiece handling, steering, transmission or operation of brazing, spray gun, wrenches and other tools for processing and assembly operations since, which has more and more attracted our attention. Robot is to imitate the manual part of the action, according to a given program, track and requirements for automatic capture, handling or operation of the automatic mechanical devices.In real life, you will find this a problem. In the machine shop, the processing of parts loading time is not annoying, and labor productivity is not high, the cost of production major, and sometimes man-made incidents will occur, resulting in processing were injured. Think about what could replace it with the processing time of a tour as long as there are a few people, and can operate 24 hours saturated human right? The answer is yes, but the robot can come to replace it.Production of mechanical hand can increase the automation level of production and labor productivity; can reduce labor intensity, ensuring product quality, to achieve safe production; particularly in the high-temperature, high pressure, low temperature, low pressure, dust, explosive, toxic and radioactive gases such as poor environment can replace the normal working people. Here I would like to think of designing a robot to be used in actual production.Why would a robot designed to provide a pneumatic power: pneumatic robot refers to the compressed air as power source-driven robot. With pressure-driven and other energy-driven comparison have the following advantages: 1. Air inexhaustible, used later discharged into the atmosphere, does not require recycling and disposal, do not pollute the environment. (Concept of environmental protection) 2. Air stick is small, the pipeline pressure loss is small (typically less than asphalt gas path pressure drop of one-thousandth), to facilitate long-distance transport. 3. Compressed air of the working pressure is low (usually 4 to 8 kg / per square centimeter), and therefore moving the material components and manufacturing accuracy requirements can be lowered. 4. With the hydraulic transmission, comparedto its faster action and reaction, which is one of the advantages pneumatic outstanding. 5. The air cleaner media, it will not degenerate, not easy to plug the pipeline. But there are also places where it fly in the ointment:1. As the compressibility of air, resulting in poor aerodynamic stability of the work, resulting in the implementing agencies as the precision of the velocity and not easily controlled.2. As the use of low atmospheric pressure, the output power can not be too large; in order to increase the output power is bound to the structure of the entire pneumatic system size increased.With pneumatic drive and compare with other energy sources drive has the following advantages:Air inexhaustible, used later discharged into the atmosphere, without recycling and disposal, do not pollute the environment. Accidental or a small amount of leakage would not be a serious impact on production.Viscosity of air is small, the pipeline pressure loss also is very small, easy long-distance transport.The lower working pressure of compressed air, pneumatic components and therefore the material and manufacturing accuracy requirements can be lowered. In general, reciprocating thrust in 1 to 2 tons pneumatic economyis better.Compared with the hydraulic transmission, and its faster action and reaction, which is one of the outstanding merits of pneumatic.Clean air medium, it will not degenerate, not easy to plug the pipeline.It can be safely used in flammable, explosive and the dust big occasions. Also easy to realize automatic overload protection.Second, the composition, mechanical handRobot in the form of a variety of forms, some relatively simple, some more complicated, but the basic form is the same as the composition of the Usually by the implementing agencies, transmission systems, control systems and auxiliary devices composed.1. Implementing agenciesManipulator executing agency by the hands, wrists, arms, pillars. Hands are crawling institutions, is used to clamp and release the workpiece, and similar to human fingers, to complete the staffing of similar actions. Wrist and fingers and the arm connecting the components can be up and down, left, and rotary movement. A simple mechanical hand can not wrist. Pillars usedto support the arm can also be made mobile as needed.2. TransmissionThe actuator to be achieved by the transmission system. Sub-transmission system commonly used manipulator mechanical transmission, hydraulic transmission, pneumatic and electric power transmission and other drive several forms.3. Control SystemManipulator control system's main role is to control the robot according to certain procedures, direction, position, speed of action, a simple mechanical hand is generally not set up a dedicated control system, using only trip switches, relays, control valves and circuits can be achieved dynamic drive system control, so that implementing agencies according to the requirements of action. Action will have to use complex programmable robot controller, the micro-computer control.Three, mechanical hand classification and characteristicsRobots are generally divided into three categories: the first is the general machinery does not require manual hand. It is an independent not affiliated with a particular host device. It can be programmed according to the needs of the task to complete the operation of the provisions. It is characterized with ordinary mechanical performance, also has general machinery, memory, intelligence ternary machinery. The second category is the need to manually do it, called the operation of aircraft. It originated in the atom, military industry, first through the operation of machines to complete a particular job, and later developed to operate using radio signals to carry out detecting machines such as the Moon. Used in industrial manipulator also fall into this category. The third category is dedicated manipulator, the main subsidiary of the automatic machines or automatic lines, to solve the machine up and down the workpiece material and delivery. This mechanical hand in foreign countries known as the "Mechanical Hand", which is the host of services, from the host-driven; exception of a few outside the working procedures are generally fixed, and therefore special. Main features:First, mechanical hand (the upper and lower material robot, assembly robot, handling robot, stacking robot, help robot, vacuum handling machines, vacuum suction crane, labor-saving spreader, pneumatic balancer, etc.). Second, cantilever cranes (cantilever crane, electric chain hoist crane, air balance the hanging, etc.)Third, rail-type transport system (hanging rail, light rail, singlegirder cranes, double-beam crane)Four, industrial machinery, application of handManipulator in the mechanization and automation of the production process developed a new type of device. In recent years, as electronic technology, especially computer extensive use of robot development and production of high-tech fields has become a rapidly developed a new technology, which further promoted the development of robot, allowing robot to better achieved with the combination of mechanization and automation. Although the robot is not as flexible as staff, but it has to the continuous duplication of work and labor, I do not know fatigue, not afraid of danger, the power snatch weight characteristics when compared with manual large, therefore, mechanical hand has been of great importance to many sectors, and increasingly has been applied widely, for example:(1) Machining the workpiece loading and unloading, especially in the automatic lathe, combination machine tool use is more common.(2) In the assembly operations are widely used in the electronics industry, it can be used to assemble printed circuit boards, in the machinery industry It can be used to assemble parts and components.(3) The working conditions may be poor, monotonous, repetitive easy to sub-fatigue working environment to replace human labor.(4) May be in dangerous situations, such as military goods handling, dangerous goods and hazardous materials removal and so on.(5) Universe and ocean development.(6), military engineering and biomedical research and testing.Help mechanical hands: also known as the balancer, balance suspended, labor-saving spreader, manual Transfer machine is a kind of weightlessness of manual load system, a novel, time-saving technology for material handling operations booster equipment, belonging to kinds of non-standard design of series products. Customer application needs, creating customized cases. Manual operation of a simulation of the automatic machinery, it can be a fixed program draws ﹑ handling objects or perform household tools to accomplish certain specific actions. Application of robot can replace the people engaged in monotonous ﹑repetitive or heavy manual labor, the mechanization and automation of production, instead of people in hazardous environments manual operation, improving working conditions and ensure personal safety. The late 20th century, 40, the United States atomic energyexperiments, the first use of radioactive material handling robot, human robot in a safe room to manipulate various operations and experimentation.50 years later, manipulator and gradually extended to industrial production sector, for the temperatures, polluted areas, and loading and unloading to take place the work piece material, but also as an auxiliary device in automatic machine tools, machine tools, automatic production lines and processing center applications, the completion of the upper and lower material, or From the library take place knife knife and so on according to fixed procedures for the replacement operation. Robot body mainly by the hand and sports institutions. Agencies with the use of hands and operation of objects of different occasions, often there are clamping、support and adsorption type of care. Movement organs are generally hydraulic pneumatic、electrical device drivers. Manipulator can be achieved independently retractable、 rotation and lifting movements, generally 2 to 3 degrees of freedom. Robots are widely used in metallurgical industry, machinery manufacture, light industry and atomic energy sectors.Can mimic some of the staff and arm motor function, a fixed procedure for the capture, handling objects or operating tools, automatic operation device. It can replace human labor in order to achieve the production of heavy mechanization and automation that can operate in hazardous environments to protect the personal safety, which is widely used in machinery manufacturing, metallurgy, electronics, light industry and nuclear power sectors. Mechanical hand tools or other equipment commonly used for additional devices, such as the automatic machines or automatic production line handling and transmission of the workpiece, the replacement of cutting tools in machining centers, etc. generally do not have a separate control device. Some operating devices require direct manipulation by humans; such as the atomic energy sector performs household hazardous materials used in the master-slave manipulator is also often referred to as mechanical hand. Manipulator mainly by hand and sports institutions. Task of hand is holding the workpiece (or tool) components, according to grasping objects by shape, size, weight, material and operational requirements of a variety of structural forms, such as clamp type, type and adsorption-based care such as holding. Sports organizations, so that the completion of a variety of hand rotation (swing), mobile or compound movements to achieve the required action, to change the location of objects by grasping and posture.Robot is the automated production of a kind used in the process of crawling and moving piece features automatic device, which is mechanizedand automated production process developed a new type of device. In recent years, as electronic technology, especially computer extensive use of robot development and production of high-tech fields has become a rapidly developed a new technology, which further promoted the development of robot, allowing robot to better achieved with the combination of mechanization and automation. Robot can replace humans completed the risk of duplication of boring work, to reduce human labor intensity and improve labor productivity. Manipulator has been applied more and more widely, in the machinery industry, it can be used for parts assembly, work piece handling, loading and unloading, particularly in the automation of CNC machine tools, modular machine tools more commonly used. At present, the robot has developed intoa FMS flexible manufacturing systems and flexible manufacturing cell in an important component of the FMC. The machine tool equipment and machineryin hand together constitute a flexible manufacturing system or a flexible manufacturing cell, it was adapted to small and medium volume production, you can save a huge amount of the work piece conveyor device, compact, and adaptable. When the work piece changes, flexible production system is very easy to change will help enterprises to continuously update the marketable variety, improve product quality, and better adapt to market competition. At present, China's industrial robot technology and its engineering application level and comparable to foreign countries there is a certain distance, application and industrialization of the size of the low level of robot research and development of a direct impact on raising the level of automation in China, from the economy, technical considerations are very necessary. Therefore, the study of mechanical hand design is very meaningful.。
机械类毕业设计外文及其翻译
译文原文题目：State of the art in robotic assembly 译文题目：用机械手装配的发展水平学院：机电工程学院专业班级：09级机械工程及自动化01班学生姓名：学号：From:/kns/brief/default_result.aspxState of the art in robotic assemblyRobotic assembly systems offer good perspectives for the rationalization of assembly activities. Various bottlenecks are still encountered, however, in the widespread application of robotic assembly systems. This article focuses on the external developments, bottlenecks and development tendencies in robotic assembly.External developmentsThe current market trends are:Increasing international competition, shorter product life cycle, increasing product diversity, decreasing product quantity, shorter delivery times, higher delivery reliability, higher quality requirements and increasing labour costs. Next to these market developments, technological developments also play a role, offering new opportunities to optimize price, quality and delivery time in their mutual relationships. The technological developments are among other things: information technology, new design strategies, new processing techniques, and the availability of flexible production systems, such as industrial robots. Companies will have to adjust their policy to these market and technology developments (market pull and technology push, respectively). This policy is determined by the company objectives and the company strategy which lie at its basis. Under the influence of the external developments mentioned, the company objectives can, in general, be divided into: high flexibility, high productivity, constant and high product quality, short throughput times, and low production costs. Optimizing these competition factors normally results in the generation of more money, and thus (greater) profits. To realize this objective, most companies choose the following strategies: reduction of complexity, application of advanced production technologies, integral approach, quality control, and improvement of the working conditions. Figure 1 shows the company policy in relation to the external developments to which the company policy should be adjusted.Figure 1. External developments and company policyWith regard to the product and production development, a subdivision can be made intothe following strategies which involve[1]:The product: design for manufacturing/assembly, a short development time, a more frequent development of new products, function integration to minimize the number of parts, miniaturization and standardization.The process: improved controllability, shorter cycle times and minimal stocks. There is a trend increasingly to carry out processes in discrete production in flow form.The production system: the use of universal, modular, and reliable system components, high system flexibility (in relation to decreasing batch sizes, and increasing product variants), and the integration of product systemsin the entire production.State of the artParts manufacturing and assembly together form coherent sub-processes within the production process. In parts manufacturing, the raw material is processed or transformed into product parts in the course of which the form, sizes and/or properties of the material are changed. In assembly the product parts are put together into subassemblies or into final products. Figure 2 shows the relationships between these functional processes and the most important control processes within an industrial enterprise. This shows that assembly by means of material or product flows is linked to parts manufacturing, and that by means of information flows it is integrated with marketing, product planning, product development, process planning and production control.Figure 2. Assembly as part of the production processAssembly forms an important link in the whole manufacturing process, because this operational activity is responsible for an important part of the total production costs and the throughput time. It is one of the most labour-intensive sectors in which the share of the costs of the assembly can amount from 25 to 75 per cent of the total production costs[1]. Research shows that the share of the labour costs in the assembly in relation to the total manufacturing costs is approximately 45 per cent for lorry engines, approximately 55 per cent for machine tools, and approximately 65 per cent for electrical apparatus[1]. The centre of the cost items。
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英文翻译工业机械手可以代替人手的繁重劳动，显著减轻工人的劳动强度，提高劳动生产率和自动化水平。
工业生产中经常出现的笨重工件的搬运和长期频繁，单调的操作，如果没有机械手那么工人的劳动强度是很高的，有时候还要用行车员工件，生产速度大大延缓，这种情况采用机械手是很有效的。
此外，它能在高温、低温、深水、宇宙、反射性和其他有毒、有污染环境条件上进行操作。
更显其优越性，有着广阔的发展前途。
可编程控制器是60年代末在美国首先出现，当时叫可编程逻辑控制器PLC（Programmable Logic Controller），目的是用来取代继电器，以执行逻辑判断、计时、计数等顺序控制功能。
PLC的基本设计思想是把计算机功能完善、灵活、通用等优点和继电器控制系统的简单易懂、操作方便、价格便宜等优点结合起来，控制器的硬件是标准的、通用的。
根据实际应用对象，将控制内容编成软件写入控制器的用户程序存储器内。
控制器和被控对象连接方便。
随着半导体技术，尤其是微处理器和微型计算机技术的发展，到70年代中期以后，PLC已广泛地使用微处理器作为中央处理器，输入输出模块和外围电路也都采用了中、大规模甚至超大规模的集成电路，这时的PLC已不再是逻辑判断功能，还同时具有数据处理、PID调节和数据通信功能。
可编程控制器是一种数字运算操作的电子系统，专为在工业环境下应用而设计。
它采用了可编程序的存储器，用来在其内部存储执行逻辑运算，顺序控制、定时、计算和算术运算等操作的指令，并通过数字式和模拟式的输入输出，控制各种类型的机械或生产过程。
PLC 是微机技术与传统的继电接触控制技术相结合的产物，它克服了继电接触控制系统中机械触点的接线复杂、可靠性低、功耗高、通用性和灵活性差的缺点，充分利用微处理器的优点。
可编程控制器对用户来说，是一种无触点设备，改变程序即可改变生产工艺，因此可在初步设计阶段选用可编程控制器，在实施阶段再确定工艺过程。
另一方面，从制造生产可编程控制器的厂商角度看，在制造阶段不需要根据用户的订货要求专门设计控制器，适合批量生产。
由于这些特点，可编程控制器问世以后很快受到工业控制界的欢迎，并得到迅速的发展。
目前，可编程控制器已成为工厂自动化的强有力工具，得到了广泛的应用。
气动技术是以压缩空气为介质来传动和控制机械的一门专业技术。
由于它具有节能、无污染、高效、低成本、安全可靠、结构简单等优点，广泛应用于各种机械和生产线上。
过去汽车、拖拉机等生产线上的气动系统及其元件，都由各厂自行设计、制造和维修。
气动技术应用面的扩大是气动工业发展的标志。
气动元件的应用主要为两个方面：维修和配套。
过去国产气动元件的销售要用于维修，近几年，直接为主要配套的销售份额逐年增加。
国产气动元件的应用，从价值数千万元的冶金设备到只有1~2百元的椅子。
铁道扳岔、机车轮轨润滑、列车的煞车、街道清扫、特种车间内的起吊设备、军事指挥车等都用上了专门开发的国产气动元件。
这说明气动技术已“渗透”到各行各业，并且正在日益扩大。
我国的气动工业虽然达到了一定规模与技术水平，但是与国际先进水平相比，差距甚大。
我国气动产品产值只占世界总产值的1.3%，仅为美国的1/21，日本的1/15，德国的1/8。
这与10多亿人口的大国很不相称。
从品种上看，日本一家公司有6500个品种，我国只有它的1/5。
产品性能和质量水平的差距也很大。
由于气动技术越来越多地应用于各行业的自动装配和自动加工小件、特殊物品的设备上，原有传统的气动元件性能正在不断提高，同时陆续开发出适应市场要求的新产品，使气动元件的品种日益增加，其发展趋势主要有以下几个方面：体积更小，重量更轻，功耗更低.在电子元件、药品等制造行业中，由于被加工件体积很小，势必限制了气动元件的尺寸，小型化、轻型化是气动元件的第一个发展方向。
国外已开发了仅大姆指大小、有效截面积为0.2mm2的超小型电磁阀。
能开发出外形尺寸小而流量较大的元件更为理想。
为此，相同外形尺寸的阀，流量已提高2~3.3倍。
有一种系列的小型电磁阀，其阀体宽仅10mm，有效面积可达5mm2;宽15mm,有效面积达10mm2等。
国外电磁阀的功耗已达0.5W，还将进一步降低，以适应与微电子相结合。
气源处理组合件，国内外大多采用了积木式的砌块结构，不仅尺寸紧凑，而且结合、维修都很方便。
执行元件的定位精度提高，刚度增加，活塞杆不回转，使用更方便.为了提高气缸的定位精度，附带制动机构和伺服系统的气缸应用越来越普遍。
带伺服系统的气缸，即使供气压力和所负的载荷变化，仍可获得±0.1mm的定位精度。
在国际展览会上，各种异型截面缸筒和活塞杆的气缸甚多，这类气缸由于活塞杆不会回转，应用在主机上时，无须附加导向装置即可保持一定精度。
此外还开发了不少带各种导向机构的气缸和气缸滑动组件，例如具有两根导向杆的气缸、双活塞杆双缸筒气缸等。
气缸筒外形已不限于圆形、而是方形、米字形或其它形状，在型材上开了导向槽、传感器和开关的安装槽等，让用户安装使用更方便。
多功能化，复合化.为了方便用户，适应市场的需要开发了各种由多只气动元件组合并配有控制装置的小型气动系统。
如用于移动小件物品的组件，是将带导向器的两只气缸分别按X轴和Z轴组合而成。
该组件可搬动3kg重物，配有电磁阀、程控器，结构紧凑，占有空间小，行程可调整。
又如一种上、下料模块，有七种不同功能的模块形式，能完成精密装配线上的上、下料作业，可按作业内容将不同模块任意组合。
还有一种机械手是由外形小并能改变摆动角度的摆动气缸与夹头的组合件，夹头部位有若干种夹头可选配。
与电子技术结合，大量使用传感器，气动元件智能化.带开关的气缸国内已普遍使用，开关体积将更小，性能更高，可嵌入气缸缸体；有些还带双色显示，可显示出位置误差，使系统更可靠。
用传感器代替流量计、压力表、能自动控制压缩空气的流量、压力，可以节能并保证使用装置正常运行。
气动伺服定位系统已有产品进入市场。
该系统采用三位五通气动伺服阀，将预定的定位目标与位置传感器的检测数据进行比较，实施负反馈控制。
气缸最大速度达2m/s、行程300mm 时，系统定位精度±0.1mm。
日本试制成功一种新型智能电磁阀，这种阀配带有传感器的逻辑回路，是气动元件与光电子技术结合的产物。
它能直接接受传感器的信号，当信号满足指定条件时，不必通过外部控制器，即可自行完成动作，达到控制目的。
它已经应用在物体的传送带上，能识别搬运物体的大小，使大件直接下送，小件分流。
更高的安全性和可靠性.从近几年的气动技术国际标准可知，标准不仅提出了互换性要求，并且强调了安全性。
管接头、气源处理外壳等耐压试验的压力提高到使用压力的4~5倍，耐压时间增加到5~15min，还要在高、低温度下进行试验。
如果贯彻这些国际标准，国内的缸筒、端盖、气源处理铸件和管接头等都难达到标准要求。
除耐压试验处，结构上也作了某些规定，如气源处理的透明壳外部规定要加金属防护罩。
Industrial robots can replace the hands of heavy labor, significantly reduce labor intensity, and improve labor productivity and automation level. Industrial production often appears in the heavy work frequently, handling and long-term operation, if not drab robots that labor intensity is high, sometimes even with employees, driving speed greatly retard, this kind of circumstance using manipulator is very effective. In addition, it can be in high temperature, low temperature, water, the universe, reflective and other toxic, environmental pollution condition on the operation. More show its superiority, has broad prospects.Programmable controller is at the end of the 60's first appeared in the United States, when called programmable logic controller PLC (Programmable Logic Controller), the purpose is to replace the relay in order to determine the implementation of the logic, timing, counting, suchas sequence control functions. PLC basic design idea is to improve the computer function, flexible, general-purpose relays, etc. and control system for easy-to-read, easy to operate, cheap to combine the advantages of the controller hardware is a standard, generic. Application in accordance with the actual object, the contents of the control software into the user program into the controller memory. Plant controller and easy to connect.As the semiconductor technology, especially in microprocessors and micro-computer technology, to the mid-70s after, PLC has been the widespread use of microprocessors as the central processing unit, input and output modules, and peripheral circuits are also used in large-scale ultra-large-scale integrated circuits even when the PLC is no longer determine the function of logic, but also at the same time data processing, PID regulation and data communication functions.Programmable controller is a digital electronic computing operating system, designed for applications in industrial environments designed. It uses a programmable memory for storage in its internal implementation of logic operations, sequence control, timing, calculation and arithmetic operations, such as operating instructions, and through digital and analog input and output, control of various types of machinery or production process. PLC is a computer technology and traditional technology of relay contacts to control a product of the combination, it has overcome the access control system relay contacts in the mechanical complexity of the wiring, reliability, low power consumption high, versatility and flexibility of the shortcomings of poor, full the advantages of the use of microprocessors.User-programmable controller is a non-contact equipment, changes in procedures to change the production process, it can be selected in the preliminary design stage programmable controller, identified in the implementation stage process. On the other hand, manufacturing production from the makers of programmable controller point of view, in the manufacturing phase of the order does not require the user request in accordance with specially designed controllers, suitable for mass production. Because of these characteristics, soon after the advent of programmable logic controller to control by the industrial sector and has been rapid development. At present, the programmable logic controller has become a powerful tool for factory automation, has been widely used.Pneumatic technology for the medium is compressed air to drive and control a mechanical expertise. Because of its energy-saving and pollution-free, highly efficient, low-cost, safe and reliable, the advantages of simple structure, a wide range of machinery and production lines. Over the past cars, tractors and other production line pneumatic system and itscomponents, both by the plant to the design, manufacture and maintenance.Pneumatic technology applications is the aerodynamic surface of the expansion of a symbol of industrial development. Application of pneumatic components for the two main areas: maintenance and support. Past sales of Chinese-made pneumatic components to be used for maintenance, in recent years, as the main supporting direct sales has increased year by year. Domestic Application of pneumatic components, tens of millions of dollars from the value of the metallurgical equipment that only 1 to 2 hundred dollars a chair. Railway plate fork, wheel-rail lubricating machine, stopping the train, street sweeping, special workshop within the lifting equipment, the military command vehicles have been specifically developed with the use of the pneumatic components in China. This shows that aerodynamic technology has been "infiltrated" into all walks of life, and is expanding.Although China's air industry has reached a certain scale and technical level, but with the international advanced level compared to the large gap. Pneumatic products output value of China's GDP accounted for only 1.3% of the world, only the United States, 1 / 21, Japan's 1 / 15, Germany 1 / 8. This is more than 10 million people does not match the big country. From the species, the Japanese company have 6500 species, it is China's only 1 / 5. The level of product performance and quality gap is also very strong.More and more as a result of aerodynamic technologies used in various industries and automatic processing of automatic assembly of small pieces of equipment, special items, the original performance of the traditional pneumatic components is increasing at the same time have to adapt to market requirements to develop new products so that the varieties of pneumatic components increasing trend of their development in the following areas:Smaller and lighter weight, lower power consumption. In electronic components, pharmaceuticals and other manufacturing industries, because of the size of a small piece to be machined, it is bound to limit the size of pneumatic components, small size, light is the pneumatic components The first direction of development. Have been developed abroad, just thumb the size of 0.2mm2 effective cross-sectional area for the ultra-compact solenoid valve. Able to issue a size small and a better flow of larger components. To this end, the same size of the valve, the flow has been increased from 2 to 3.3 times. There is a series ofmini-solenoid valve, the valve body宽仅10mm, the effective area of up to 5mm2; width 15mm, such as the effective area of 10mm2.Solenoid valve power consumption abroad than 0.5W, will be further reduced in order to adapt to the combination and Microelectronics.Gas source processing assembly, both at home and abroad using a building-block most of the block structure, not only the size of a compact, but with very easy maintenance.Implementation of components to improve the positioning accuracy, stiffness increased, non-rotating piston rod, the use of more convenient. In order to improve the positioning accuracy of the cylinder, with brake servo system and the increasing application of the cylinder. Servo system with the cylinder, even if the gas pressure and the negative changes in the load can still receive the positioning accuracy of ± 0.1mm.In the international exhibition, a variety of special-shaped cross-section cylinder and the cylinder piston rod a lot, as a result of this type of cylinder piston rod will not turn, used in the host without additional device-oriented to maintain a certain accuracy. In addition, a number of development-oriented institutions with a variety of cylinder and cylinder sliding components, such as with a two-under-oriented cylinder, double cylinder such as cylinder piston rod double.Cylinder tube has not limited to a circular shape, but square, rice-shaped or other shape, in profile slot on the set-oriented, sensors and switches such as the installation of slot to enable users to install more convenient to use.Multi-function, and composite. For the convenience of users, to adapt to the needs of the market has developed more than a variety of pneumatic components by the combination of control devices with a small pneumatic system. Such as small items for mobile components, is the band director, respectively, according to the two-cylinder X-axis and Z-axis combination. The movable components 3kg weights with Solenoid Valve, program-controlled device, compact structure, occupy space, adjustable travel. Another example is an upper and lower feed module, there are seven different forms of functional modules, to complete the assembly line precision, the cutting operation, will be operating may be any combination of different modules. There is also a manipulator and by the appearance of small swing can change the swing angle of the cylinder assembly and the chuck, chuck parts have a number of optional chucks.And electronic technology, large-scale use of sensors, intelligent pneumatic components. With switch has been the widespread use of domestic cylinders, switch size will be smaller, higher performance can be embedded in the cylinder block; some with two-color display can be shows the location of the error, making the system more reliable. Replacethe flow meter sensors, pressure gauges, automatic control of compressed air can flow, pressure, can use energy-saving devices and to ensure normal operation. Pneumatic servo positioning system products have been entering the market. The system uses three Wutong pneumatic servo valve, the predetermined target detection and location of the sensor data, the implementation of negative feedback control. Cylinder up to a maximum speed of 2m / s, stroke 300mm, the system positioning accuracy of ±0.1mm. Japan's successful trial of a new intelligent solenoid valve, the valve with a sensor logic circuit, is pneumatic components and opto-electronics products of technology. It can directly accept the signal sensor when the signal to meet the specified conditions, without going through the external controller, you can complete action on its own to control purposes. It has been applied to objects on the conveyor belt, to identify the size of moving objects, so that direct the next big delivery, small pieces of triage.Higher safety and reliability. From pneumatic technology in recent years, international standards, we can see that the standard not only the interchangeability requirements and stressed the importance of security. Pipe joints, gas shells, such as the source of pressure to deal with the pressure of the pilot pressure to the 4 to 5 times the pressure of time to 5 ~ 15min, but also in the high-and low-temperature test. If you implement these international standards, domestic cylinder tube, end caps, gas processing, such as castings and fittings could not meet the standards. In addition to the pilot pressure, the structure also made certain provisions, such as the gas source to deal with the provisions of the transparent outer了了；3.如果通过Google仍然无法理解，感觉就是不同，那肯定是对其中某个“常用单词”理解有误，因为某些单词看似很简单，但是在文献中有特殊的意思，这时就可以通过CNKI的“翻译助手”来查询相关单词的意思，由于CNKI的单词意思都是来源与大量的文献，所以它的吻合率很高。