毕业论文外文翻译-爬墙机器人
爬壁机械人运动和粘附的研究外文文献翻译、中英文翻译、外文翻译
外文资料翻译翻译资料名称(外文) A Survey of Climbing Robots:Locomotion and Adhesion翻译资料名称(中文) 爬壁机器人运动和粘附的研究院（系）：机械工程系专业：机械设计制造及其自动化姓名：潘晨学号： 04111237指导教师：陈敏华完成日期：爬壁机械人运动和粘附的研究作者：Baeksuk Chu1, Kyungmo Jung1, Chang-Soo Han2 ，Daehie Hong1；关键词：机器人，爬壁，运动，粘附，工程应用摘要：爬壁机器人是机器人系统在2D或复杂的3D环境中移动，如墙壁，天花板，屋顶，几何结构以及适应各种类型的环境。
他们不仅将取代在危险环境中人工进行的危险任务，同时也提高运营效率，省去了昂贵的安装脚手架和人员成本。
爬壁机器人在自我维持他们的身体的同时，有不同的特点来适应二维和三维表面类型，左右移动，并配有适当的工具和传感器来完成工作。
因此，设计一个爬壁机器人最重要的标准是有适当的运动的设计和适应特定环境要求的粘附机理。
在这篇文章中，将会介绍爬壁机器人的简要概述以及和具有综合运动和黏附的分析的适当的爬壁机械人的例子。
同时，从适用范围进行考虑提出了爬壁机械人可运用在从建造工业行业的清洁任务到生物医学服务行业。
1、介绍作为一种特殊的移动机器人，爬壁机器人是指能在二维或三维复杂环境中移动的机器人系统如墙壁，天花板，屋顶，几何结构以及适应各种类型的环境。
爬壁机器人是一个非常有吸引力的研究课题，由于工作位置的困难环境不便于人们触及和工作的不安全隐患，大量的问题是人类操作员不能直接执行的。
因此，爬壁机器人可以是一个很好的替代方案，可以提高经营效率，保护工作者的人身安全，并且在从以下危险任务中可以保障工作者的安全：高层建筑的清洗和检查工作，核电厂储罐及石化设备的诊断工作，船体的焊接和维修工作，等等。
相比其他的移动机器人，通过轮子或者腿在地面上移动，爬壁机器人具有通过维持身体从而抵抗重力而在3D环境中移动的独特的特点。
机械 机器人 外文文献 英文文献 墙壁清理器 可实现角落清理的移动装置的方案
WallWalker: Proposal of LocomotionMechanism Cleaning Evenat the CornerT. Miyake1 2 and H. Ishihara11 Kagawa Univ. Japan2 MIRAIKIKAI Inc., JapanAbstract. The purpose of this research is to develop the window cleaning robot forcleaning a single large windowpane such as a show window. It requires the followingdemands to apply the window cleaning robot for the practical use:1. Clean the corner of window because fouling is left there often.2. Sweep the windowpane continuously to prevent making striped patterns on awindowpane.The keys of mechanisms are the rotatability of the mobile part around the otherparts and the continuous locomotion in order to achieve the above points. The formerenables the robot to change the direction with keeping its position and attitude at thecorner of window. The latter is necessary for preventing leaving the striped patternon a windowpane. We designed the continuous motion using two-wheel locomotionwith adhering on the windowpane using a suction cup.The size of prototype is about 300mm × 300mm × 100mm and its weight isabout 2 kg without batteries. As the results of basic experiments of the prototype ona vertical smooth window glass, traveling velocity of going up direction was 0.08 m/s,one of going down direction was 0.14 m/s and horizontal direction was 0.11 m/s.In this paper the 1st chapter mentions background and objectives of this research,and also introduces the concept of WallWalker. The 2nd chapter discussesthe adhering and moving mechanism. The 3rd chapter illustrates its basic propertiesbased on the experiments. Finally, problems and future works are discussed in the4th chapter.1 IntroductionRecently, we have had many requests for the automatic cleaning of outsidesurface of buildings. Some customized window cleaning machines have alreadybeen installed into the practical use in the field of building maintenance.However, almost of them are mounted on the building from the beginning and they needs very expensive costs. Therefore, requirementsfor small, lightweight and portable window cleaning robot are also growing in the field of buildingmaintenance.As the results of surveying the requirements for the window cleaning robotby the field research with the cleaning companies, the following points arenecessary for providing the window cleaning robot for practical use:1. It should be small size and lightweight for carried by one person to everywhere.2. Clean the corner of window because fouling is left there often.3. Sweep the windowpane continuously to prevent making striped pattern ona windowpane.The locomotion mechanism must be chosen to satisfy these demands, especially later two subjects. Here locomotion mechanism means the combinationof adhering mechanism, traveling mechanism and a mechanism for changinga traveling direction.Various researches of locomotion mechanisms on wall climbing robots have been reported [1–5]. However they do not adapt to above three points completely.For example, climbing robot by legged-wall walking can not realizethe continuous movement, and also its turn-ability is low [6].We focused on the application of the window cleaning robot on a singlewindowpane. It is apparently necessary to cross over the window frame orjoint line to use it at any window, but the single windowpanes like as a showwindow also exist as an important application.According to such considerations, we adopted the two-wheel locomotion mechanism with adhering by a suction cup. This paper mainly deals with this mechanism and functions specialized in cleaning the corner of window.First requirement brought the following specifications for designing thewindow cleaning robot.– Weight: 5 kg, including the weight of battery and washing water,– Size: 300mm × 300mm × 100 mm.These are also defined by the results of surveying the demands from thecleaning companies.This paper proposes the small, light and portable window cleaning robot named WallWalker, which are designed to satisfy the market demands as mentioned above. Figure 1 is the rendering at a scene of practical use of WallWalker. The WallWalker is adhering on a windowpane and cleaning as moving on large windows.This paper discusses the effectiveness of proposed locomotion mechanism. The 2nd chapter discusses the locomotion mechanisms and illustrates the prototype for testing the proposed locomotion mechanism. The 3rd chapter illustrates its basic properties based on theexperiments.Fig. 1. Small-size window cleaning robot on a window2 Locomotion MechanismVarious researches of locomotion mechanisms on the window cleaning robots have been reported. However they do not meet our specifications defined based on the market demands above-mentioned. For example, climbing robot by legged-walk cannot realize the continuous movement, and also its turn-ability is low [6]. Climbing robot using crawler mechanism allows continuous movement, but the rotatability is as low as or lower than the leggedwalk [7]. Window cleaning robot by crawler mechanism had been developed (Size: 440×400×180mm Weight: 6.5 kg maximum speed 2 cm/sec) by Shraftet al. [8]. It must bring its own crawler up from the adhering surface and rotate it in order to change its traveling direction. This mechanism needs strong adhering force to hold the whole system on the vertical plane with lifting the mobile mechanism, and also it takes a long timeto finish the process of changing its front.Both of Legged-Walk and Crawler mechanism need the complicated structures, and therefore it is difficult to lighten and downsize it.According to such considerations, we adopted the two-wheel locomotion mechanism with adhering by suction cup. Figure 2 shows conceptual structure of WallWalker, which includes two driving wheels, a suction cup put in the center of robot, an air regulator, a small vacuum pump, some electronic circuits and some cleaning units. This chapter deals with the details of structures and the prototype designed for testing the proposed mechanism.2.1 Traveling MechanismWallWalker moves on windowpane by two wheels with holing the body on the surface using a suction cup. The most important point in the mechanism isFig. 2. Overview of small-size window cleaning robotthe friction coefficient of suction cup and tire against the adhering surface, e.g. high friction between the tire and the surface of window transmits the torque, and low friction between the suction cup and the surface of window. It achieves to move the robot with holding the body on the window. We selected PTFE (Polytetrafluoroethylene) for the materials of surface of a suction cup, and silicon rubber for the material of tires.2.2 Turning MechanismTurning mechanism is a key to clean even at the corner of window. Figure 3 shows the scenes that the robot changes its traveling direction at the corner. Figure 3(a) shows a usual turning way like as turning of motorcars. In this case, since the robot changes a direction as tracing an arc, it can not reach the end of corner of window. It needs the complicated process as follows to cleanthe corner by such robot: first, the robot goes into a corner, next it moves back the distance to turn, then it changes its direction as tracing an arc. In case that the robot can change its direction at the end of corner as shown in Fig. 3(b), the robot can clean a corner easily and rapidly. Round-shape robot is easily able to turn at the corner, but it unable to reach the end of corner. On the other hand, a quadrangular robot can clean to the end of corner, but never turn itself there.To get a function to change direction as shown in Fig. 3(b), we designed the mechanism that a mobile unit and a cleaning part are rotatably connected at the center shaft as shown in Fig. 2. Proposed mechanism consists of an adhering part, a cleaning part and a mobile part. The adhering part is constructed of a suction cup covered with PTFE and a vacuum pump. The（a）Conventional turning strategy（b）Novel turning strategy, which enables to clean a cornerFig. 3. Turning mechanism at a window Cornercleaning part is fixed to the adhering part. The mobile part uses two-wheel driving mechanism and is connected to the center shaft of the adhering part with suspension springs.2.3 Suspension MechanismIt is very important to press the tires on the adhering surface with the force enough to generate the friction to move itself. Because the suction cup deforms its own shape by the condition of vacuum such as a vacuum pressure, it is impossible to calculate the posture of robot against the adhering surface initially. That is, the force that the tire is pushed on the adhering plane mustbe adjustable to the adhering force.WallWalker is introduced suspension springs into as an adjusting mechanism. They are placed between the mobile part and the adhering part, and enable to touch the tires on the adhering plane with a suitable force for the generating the friction.2.4 Prototype of Locomotion MechanismFigure 4 shows the photograph of prototype developed to test the proposed turning mechanism. The size of prototype is about 300mm × 300mm × 100mm and its weight is about 2 kg without batteries. The chassis that is made of aluminum alloy is formed square, and its inner area is hollowed to rotate mobile part at changing traveling direction. This contains two DC motors, suspension mechanism, a vacuum pump (−23 kPa) a suction cup which diameter is 150 mm, an air regulator and some electronic circuits. This robot is currently controlled from outside via cables and electric energy is also supplied by a power strip.Fig. 4. Developed prototype3 Experimental ResultsAt first the basic properties on a vertical smooth window glass have been tested. As the experimental results, traveling speed of going up direction was 0.08 m/s, one of going down direction was 0.14 m/s and horizontal direction was 0.11m/s (Fig. 5). Also, the robot kept its body on the window stably and did not fall down during moving. These results proved its basic performancesatisfies the specifications defined based on the field surveying.Next, rotatability of prototype at the corner of window was confirmed by the experiment. Figure 6 shows sequential photographs when the prototype turns at the corner using turning mechanism proposed in this paper. As shown by these photographs, it was verified that the prototype can change its traveling direction at rights smoothly.(a)Prototype is climbing up a window (b) Back side of prototypeFig. 5. Mobility measuring of prototypeFig. 6. Test of rotatability of prototype at the corner of window4 ConclusionProposed WallWalker, which provides the continuous motion on the vertical indowpane and rotatability that the robot can change its traveling direction t the corner of window, was designed for cleaning the end of corner of window. In order to verify the basic properties about above abilities, the prototype was eveloped. Those results proved that the prototype fill the basic requirements entioned in 1st chapter.As the next development, the installations of control system and cleaning nit are planed. Sensors such as the posture sensor, e.g. gyro sensor, will be ounted and control scheme will be developed. Finally, the cleaning be tested with some cleaning units. AcknowledgementsThis research was supported by Foundation of Nankai-Ikueikai, Takamatsu, Japan. We greatly appreciate their support and encouragement.墙壁清理器:可实现角落清理的移动装置的方案T.Miyake，H.Ishihara 著许璠译摘要：本次研究的目的是为了开发一种能清洗窗口的机器人，用于清洗一个大玻璃窗，如清洗一个展览窗。
爬墙机器人外文翻译
The development trend of the robot1. Preface:Climbing robot is an important branch in the field of mobile robot, flexible mobile on vertical wall, replace artificial under the condition of the limit to complete various tasks, is one of the hotspot in research of the robot. It is mainly used in the nuclear industry, petrochemical industry, shipbuilding, fire departments and investigation activities, such as the building external wall cleaning, material storage tank in petrochemical enterprise testing and maintenance, the outer wall of large steel plate spray paint, and in building accident rescue and relief, etc., and achieved good social benefits and economic benefits, has wide development prospects.After 30 years of development, the field of robot which has emerged a large number of fruitful results, especially since the 1990 s, especially rapid development in the field of climbing robot at home and abroad. In recent years, due to the development of a variety of new technology, the robot which solved many technical challenges, greatly promote the development of the climbing robot. The robot design activities of universities in our country also has a wide development, this kind of atmosphere for our robot research and development of special and professional talents' cultivation is of positive significance.2. Climbing robot research status abroad1966 Japanese professor west light wall mobile robot prototype is developed for the first time, and performance success in Osaka prefecture university. This is a kind of rely on negative pressure adsorption climbing robot. Then appeared various types of climbing robot, has already begun to the late 80 s application in the production. Japan's most rapid development in the development of climbing robot, mainly used in the construction industry and nuclear industry. Such as: Japan shimizu construction company has developed with the outer wall of the building industry coating with ceramic tile of the robot, they developed by negative pressure adsorption cleaning climbing robot, on the surface of the glass for the Canadian embassy to clean. Tokyo university of technology development of the wireless remote control magnetic adsorption climbing robot. In Japan's miti "limit homework robot" national research projects, supported by day CDH, developed a large pot of negative pressure adsorption surface inspection robots used in nuclear power plants, etc.Other countries are also added to the climbing robot research upsurge, such as: Seattle Henry R Seemann under the funding of the Boeing company developed a vacuum adsorption crawler "AutoCrawler" robot. On the two tracks each containing a number of small adsorption chamber, with the moving of the crawler, adsorption chamber form continuous vacuum cavity and makes the crawler walking against thewall. American CaseWestern Reserve University developed by using four climbing robot prototype "legs". Similar to the first two robots, the robot depends on four "legs" on biomimetic viscous materials to adsorption, the prototype is the four legs wheel on the sole of the foot even special distribution is more advantageous to the robot stable crawling on the wall. The quality of the robot is only 87 g. Polytechnic school in the early 1990 s, British Portsmouth has developed a climbing robot multilegged walking type. Adopting modular design, the robot is composed of two similar modules, each module includes two mechanical legs and leg controller. According to the task need to install a different number of legs, reconfigurable ability. Mechanical legs using bionics mechanism, simulation of the large animals arm muscle function, is two type, including upper and lower two and three double-acting cylinder, with three degrees of freedom. Good stability and bearing capacity is big, the robot's lightweight, and can span bigger obstacles. In addition to the leg on one end of vacuum cups, robot equipped with suction cups, abdomen mass ratio of powder and make the robot has a larger load of 2:1.3. Climbing robot research status in ChinaChina is also in a similar study since the 1990 s. In 1988 at the national "863" high technology program, under the support of the robotics institute of Harbin institute of technology has successfully developed the use of magnetic adsorption and vacuum adsorption twoseries of five types of wall climbing robot. Successful development of the our country the first wall climbing robot remote detection, using negative pressure adsorption, omni-directional mobile wheel, used for nuclear waste storage jars of wall weld defect detection. Developed in 1994 for tall buildings wall climbing robot cleaning CLR - Ⅰ, adopts the omni-directional mobile mechanism, the robot in situ can arbitrarily change the direction of movement. After the development of the CLR - Ⅱ, driven by two independent ways -- coaxial two-wheeled differential mechanism, through the coordination of two rounds of speed control to realize the omni-directional mobile robot, the robot ontology and using power line carrier communication methods between the ground control station. Above-mentioned three climbing machine adopts single suction cup structure, spring air sealed, ensure the crawl robot with high speed and reliable adhesion ability. In 1995 successfully developed the metal corrosion by magnetic adsorption climbing robot, structure of permanent magnetic adsorption, accomplished by two tracks positive &negative mobile turn. The robot can do for petrochemical enterprises to the outer wall of the metal material storage tank to spray paint, sandblasting, as well as with automatic detection system to test the tank wall thickness. Developed in 1997's detection of water wall climbing robot, a circular permanent magnet adsorption block in conformity with the tank wall arc, improve the adsorption capacity, and improve theefficiency of the operation. Shanghai university also conducted early tall wall cleaning robot research, successively developed a vertical wall climbing robot and spherical wall climbing robot. The spherical wall climbing robot adopts many suckers, negative pressure adsorption, 6 foot independent driving leg feet walking style, can be used for different radius of curvature of the spherical outer wall since 1996, the Beijing university of aeronautics and astronautics has successfully developed WASH2 MAN, CLEANBOT 1, SKYCLEAN, "hanging basket type window robot" and "LanTianJie treasure" curtain wall cleaning robot prototype. For all the window is brushed pneumatic robot; Hanging basket type cleaning robot, the robot depends on the roof of the safety line traction, attached with the negative pressure made by fan robot on the wall in the application background of national grand theatre ellipsoid ceiling cleaning developed suitable for complex curved surface from climbing robot prototype, the climbing mechanism, mobile mechanism, cleaning robot has many similarities, but due to its special working environment and mission requirements, in terms of theory and technology has some particularity.4. The key technology of robot:4.1 adsorption mechanism, adsorption mechanism of action is to produce an upward force to balance the gravity of the robot, keep it on the wall. Currently, magnetic adsorption methods mainly include vacuumnegative pressure adsorption, adsorption, propeller thrust and binder etc. Several ways. Due to the adsorption methods each have limitations, climbing robot developed by often targeted strong, applies only to a specific task, difficult to generalize. Robot design need to work on task, environment, choose the right means of adsorption. In recent years, people through the study of the adsorption mechanism of gecko reptiles such as the soles of your feet, making the polymer synthesis of viscous material, the use of van der Waals force between the molecules and molecular materials, can be obtained on the contact area of small huge adsorption capacity, and has the advantages of adsorption has nothing to do with the surface material properties. Short life but at the moment, the use of these materials, the use of a certain number of times after lose viscosity, practical, need further study.4.2 mobile mechanism and motion control system: mobile mechanism and the movement control system of robot which major wheeled mobile mechanism, more foot type, such as caterpillar, among them, the wheel and foot type which has been widely used, caterpillar much for magnetic adsorption method. Obstacle ability is wall robot which used to an important indicator of performance. When work surface is convex, groove, the robot to go through these obstacles, we must have enough obstacle ability. All kinds of mobile mechanism, more foot type robot obstacle-navigation ability is stronger, its each leg smallsuction cup is placed, when faced with obstacles, can control the "leg", make the small suction cup across the obstacles one by one. Wall mobile mechanism of the robot can make the robot on the premise of reliable adsorption can move on the wall. Due to the particularity of climbing robot working in wall, mobile mechanism and adsorption mechanism exists coupling, which brought some difficulties to the robot's motion control. Than climbing robot sucker foot type and legs with a suction cup at the end, every move a leg needs to be done "to eliminate suction - leg - Wallace leg, left leg - generate adsorption force" a series of actions. In this process, the robot mobile mechanism of the action should coordinate with each other, and the adsorption mechanism to to guarantee the flexible mobile robot on the wall. In addition, there is also a mobile mechanism and adsorption separation, such as single suction cups, robot sucker adsorption, sustainable continuous movement of driving wheel mobile robot, motion control is relatively simple.Energy supply and drive mode: 4.3 the driving mode of energy supply and energy supply way with people via the wire line for the machine to provide energy such as electricity, gas, also has a built-in battery, cylinders and so on. Drive ways mainly have the pneumatic motor and other several ways. Climbing robot is designed to adopt high efficiency quality than drive and source of power, especially the wireless control cases. Using motor drive, energy supply mainly include polymerlithium battery, nickel metal hydride batteries, electrochemical batteries and fuel cells. In addition, due to the energy of internal combustion engine - - gasoline, hydrogen fuel can have higher weight ratio, such as advanced micro internal combustion engine can also be applied to the climbing robot.Safety problems: 4.4 the robot by interference, environmental change circumstances, how to ensure the safety of the robot is attached to the wall without falling, falling or after how to minimize the damage of the robot. The past buildings cleaning climbing robot, developed by most used by in carrying the car at the top of the tower, hoisting and wire rope of insurance system on the robot. Robot for some other purposes, such as detection with small climbing robot, the goal is not sure, cannot use the rope way of insurance, so need to study new way to prevent falling. Could consider using a parachute, small power into a pulp, fast supporting resistance drop plate, etc., these may be a future development direction of climbing robot safety measures.5. Development trend of the robotHard drive, sensor and control the development of software technology has greatly promoted the development of climbing robot technology, the demand of the practical application is also put forward the challenge, the development of robot climbing robot development trend in the aggregate, basically has the following several aspects. (1) thedevelopment of new adsorption technology. Adsorption technology has been a bottleneck of the development of the robot, it determines the application range of the robot. (2) the task of robot from simplification to muti_function change direction. The past most climbing robot which is used for washing, spraying, detection and so on homework, homework tasks are often confined to a single task. Now people want climbing robot can equipped with a variety of tools, are working on different occasions. (3) the miniaturization, micromation is currently the trend of the development of the robot. On the premise of meet the functional requirements, small volume, light quality of robot can be less energy consumption, high flexibility, and in some special occasions are also need robot with small volume. (4) by the mooring operation development to the direction of untethered. Because the robot working space is generally larger, mooring operation greatly limits the robot working space, so, in order to improve the flexibility of robot and expand the working space, no cable is changed and is now and the future development trend of the robot. (5) by simple remote monitoring to intelligent direction. Combined with artificial intelligence, the robot can in a closed environment has a certain capacity for independent decision and complete the task, and have ego to protect ability, is the important direction of mobile robot, is also a important development direction of mobile robot climbing wall. (6) the adaptability of the reconfigurablerobot is an important indicator. In order to make the robots could be used in different occasions, according to the mission requirements, under the condition of the system does not need to design, make full use of existing robot system, should make with reconfigurable robot, which has a modular structure. According to the mission requirements, the need of module is directly connected to form a new robot.译文：1.引言：爬壁机器人是移动机器人领域的一个重要分支,可在垂直壁面上灵活移动,代替人工在极限条件下完成多种作业任务,是当前机器人领域研究的热点之一。
机器人自动寻迹控制系统-外文翻译【范本模板】
南京理工大学毕业设计（论文)外文资料翻译学院（系）：机械工程学院专业:机械工程及其自动化姓名：陆建学号：0701500122外文出处：IEEE/IEE Electronic(用外文写)library(IEL）附件：1。
外文资料翻译译文；2.外文原文。
注：请将该封面与附件装订成册。
附件1:外文资料翻译译文导电胶粘剂机器人—一种新型，健壮，电力可控制附着技术的爬墙机器人Harsha Prahlad, Ron Pelrine，Scott Stanford，John Marlow, and Roy Kornbluh摘要本文介绍了一种新型夹紧称为兼容电胶合技术，同时也是第一次将这种技术应用于爬墙机器人.正如其名称所示电胶合是一种电气控制粘连技术,它涉及到采用电源连接到适合机器人移动的顺滑板来诱导墙体表面的静电荷。
立足于移动机人，夹紧力高（1平方厘米的夹紧表面承受0.2-1.4牛顿的力,力的具体大小取决于基板）已经在各种各样的常见的建筑基质中得到证实,无论是在粗糙还是光滑抑或是导电体还是绝缘体中都得到证实，与传统的粘合剂或干燥粘合剂不同，它可以为了符合流动性或配合清洗而被调制或关掉，该技术利用数量非常小的力量(大约20微瓦/牛顿的承受力量）并且展示了能重复地夹在有大量灰尘或其他杂物覆盖在基板的墙中的能力，通过使用这项技术，国际斯坦福研究所展示了各种各样的爬墙机器人包括跟踪和腿机器人。
I 引言最近的事件，诸如自然灾害，军事行动,或公众安全的威胁,强大的侦察机器人已经得到越来越多的重视，而能在三维空间里穿越地形复杂的城市的机器人更加受到重视。
创新地机器人具有良好的净空能力,通常使用很多模式的移动，如轮式或跟踪运动，腿运动，跳跃运动的机器人。
然而,它的攀爬或者停在垂直的表面建筑物及其他设施的能力,对其在军事用途提供了独特的应用空间.如城市侦察，传感器部署，建立城市网络节点,以及在民事搜索和救援行动.其垂直机动性和在高处栖息方面的能力也有众多的商业应用，如管道和槽罐检查或访问够不着的场合,如窗口区域清洁。
爬壁机器人设计毕业论文
毕业设计（论文）原创性声明和使用授权说明原创性声明本人郑重承诺：所呈交的毕业设计（论文），是我个人在指导教师的指导下进行的研究工作及取得的成果。
尽我所知，除文中特别加以标注和致谢的地方外，不包含其他人或组织已经发表或公布过的研究成果，也不包含我为获得及其它教育机构的学位或学历而使用过的材料。
对本研究提供过帮助和做出过贡献的个人或集体，均已在文中作了明确的说明并表示了谢意。
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机器人外文文献翻译、中英文翻译
机器⼈外⽂⽂献翻译、中英⽂翻译外⽂资料robotThe industrial robot is a tool that is used in the manufacturing environment to increase productivity. It can be used to do routine and tedious assembly line jobs，or it can perform jobs that might be hazardous to the human worker . For example ，one of the first industrial robot was used to replace the nuclear fuel rods in nuclear power plants. A human doing this job might be exposed to harmful amounts of radiation. The industrial robot can also operate on the assembly line，putting together small components，such as placing electronic components on a printed circuit board. Thus，the human worker can be relieved of the routine operation of this tedious task. Robots can also be programmed to defuse bombs，to serve the handicapped，and to perform functions in numerous applications in our society.The robot can be thought of as a machine that will move an end-of-tool ，sensor ，and/or gripper to a preprogrammed location. When the robot arrives at this location，it will perform some sort of task .This task could bewelding，sealing，machine loading ，machine unloading，or a host of assembly jobs. Generally，this work can be accomplished without the involvement of a human being，except for programming and for turning the system on and off. The basic terminology of robotic systems is introduced in the following:1. A robot is a reprogrammable ，multifunctional manipulator designed to move parts，material，tool，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 acomplete picture of a robotic system.2. 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 continuousoperation.Furthermore，these preprogrammed locations，as well as other program data，can be changed later as the work requirements change.Thus，with regard to this programming feature，an industrial robot is very much like a computer，where data can be stoned and later recalled and edited.3. 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.4. The tooling and frippers are not part the robotic system itself;rather，they are attachments 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-weld，drill，deburr，and do a variety of tasks，depending on what is required of the robot.5. The robotic system can control the work cell of the operating robot.The work cell of the robot is the total environment in which the robot must perform itstask.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 to tell the robot when it should 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.A.ManipulatorThe manipulator ，which does 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.Fig.1 illustrates the connectionof the base and the appendage of a robot.图1.Basic components of a robot’s manipulatorThe 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 in one location.At the end of the arm ，a wrist（see Fig 2）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.图2.Elements of a work cell from the topThe manipulator’s axes allow it to perform work within a certain area. The area is called the work cell of the robot ，and its size corresponds to the size of the manipulator.（Fid2）illustrates the work cell of a typical assembly ro bot.As the robot’s physical size increases，the size of the work cell must also increase.The movement of the manipulator is controlled by actuator，or drive systems.The actuator，or drive systems，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 power 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 chain，gear，and ball screws.B.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 hard-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 differentprograms，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 turn 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 eletronoics.That is，they are microprocessor-operated.these microprocessors are either 8-bit，16-bit，or 32-bit processors.this power allows the controller to be 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 the robot manipulator and the controller maintains a constant update of the end 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 a computer-assisted manufacturing （CAM）system.As the basic definition stated，the robot is a reprogrammable，multifunctional manipulator.Therefore，the controller must contain some of memory stage. The microprocessor-based systems operates in conjunction with solid-state devices.These memory devices may be magnetic bubbles，random-access memory，floppy disks，or magnetic tape.Each memory storage device stores program information fir or for editing.C.power supplyThe power supply is the unit that supplies power to the controller and the manipulator. The type 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 isused 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.There power sources are part of the total components of the robotic work cell.中⽂翻译机器⼈⼯业机器⼈是在⽣产环境中⽤以提⾼⽣产效率的⼯具，它能做常规乏味的装配线⼯作，或能做那些对于⼯⼈来说是危险的⼯作，例如，第⼀代⼯业机器⼈是⽤来在核电站中更换核燃料棒，如果⼈去做这项⼯作，将会遭受有害放射线的辐射。
新型爬壁机器人多向磁化永磁吸附装置的设计外文文献翻译、中英文翻译
新型爬壁机器⼈多向磁化永磁吸附装置的设计外⽂⽂献翻译、中英⽂翻译附录1：外⽂翻译新型爬壁机器⼈多向磁化永磁吸附装置的设计引⾔：⼀种⽤于爬壁机器⼈的多向磁化永磁吸附装置(PMAD)。
在相同质量下，新型PMAD能显著提⾼吸附⼒。
⾸先，基于本⽂提出的设计理论，对新型PMAD的磁路进⾏了优化。
新型PMAD包含多个排列紧密的不同磁化⽅向的永磁体。
根据磁化⽅向的排列规律，磁体可分为若⼲个元件单元。
在每个元件单元中，磁化⽅向沿半圆分布.其次，采⽤有限元分析软件ansys workbench对结构进⾏参数化建模和结构特征分析。
对新型PMAD进⾏了特性分析、磁路模拟、吸附⼒计算和参数优化。
在此基础上，提出了材料和体积相同的新型和Halbach型PMAD。
都是试制的。
测定了不同⽓隙厚度下的吸附⼒。
实验结果表明，在相同质量下，与Halbach型PMAD相⽐，新型PMAD的吸附⼒平均提⾼了⼀倍，最⼤放⼤倍数为2.3倍。
最后，将新型pMADs应⽤于爬壁机器⼈的超声波检测中，提供了稳定可靠的吸附性能。
1.概况爬墙机器⼈作为⼀种特殊的移动机器⼈，可以在墙、天花板等⼆维或复杂的三维环境中执⾏各种任务，除移动机器⼈⽤轮⼦或腿在地⾯上移动外，爬墙机器⼈还具有在移动时保持⾝体对抗重⼒的独特特性。
因此，在爬壁机器⼈设计中，既要考虑移动性，⼜要考虑吸附性。
根据吸附⽅式的不同，爬壁机器⼈可分为五类：真空吸附式、磁吸附式、夹持式、导轨式和仿⽣t型。
YPE3磁性吸附，包括永磁吸附和电磁吸附，⽐真空吸附更适⽤于铁磁表⾯。
⼀般来说，磁路的设计应该是为了最⼤限度地利⽤其中的材料。
另⼀⽅⾯，如果在移动设备上安装PMAD，则PMAD质量的降低可以提⾼移动设备的移动性。
因此，优化PMAD的磁路以增加吸附量是⾮常必要的。
2.多向磁化PMAD的结构设计将不同的部件单元紧密地布置可以使泄漏通量最⼩化并集中更多的磁感应。
“期望区域”中的n⾏。
同样，沿y轴两侧也有泄漏通量。
机器人对人类的好处和坏处英语作文
机器人对人类的好处和坏处英语作文Robots: The Good, The Bad, and The Creepy!Hi there! My name is Emma and I'm 10 years old. Today I want to talk to you about robots. Robots are these really cool machines that can do all sorts of things. Some robots are made to help people, some are just for fun, and some are...well, a little creepy if you ask me!First off, let me tell you about all the awesome ways robots can make our lives better. Robots are super strong and never get tired, so they can do jobs that are too hard or too boring for humans. Like lifting really heavy things or putting together cars in a factory over and over again. Robots are also really precise. Their robot arms and tools can put things together perfectly every single time.That's why robots are great for building stuff, especially tiny little parts for computers and phones. Humans couldn't make those parts so perfectly! Robots can also go places that are too dangerous for people, like fixing a nuclear reactor or exploring the depths of the ocean. Instead of a person risking their life, we can just send in a robot!Some robots even help out doctors and nurses in hospitals. They can Move around heavy equipment, deliver medicines, and help with surgery by holding cameras or tools. Robots don't get sleepy or shaky hands, so they are really good at that kind of precise work. Cool, right?Robots are also helping to make our lives more fun and convenient. You've probably seen or heard of robot vacuum cleaners that can automatically clean your house for you. No more pushing that heavy vacuum around! Or how about those cute little robot pets and toys that can walk, dance, and play games? Having a robot buddy sounds awesome to me.Speaking of robot buddies, some robots are even being designed to take care of older people who can't take care of themselves anymore. These robots can remind them to take their medicine, call for help if they fall down, and just keep them company so they don't get lonely. That's really nice, isn't it?Okay, I've talked about lots of good robots so far. But you know what? Robots can also be kinda bad...or at least cause some problems. One issue is that robots could take over jobs that used to be done by humans. If a factory gets a bunch of robots to build cars, they might not need as many humanworkers anymore. That's not fair to all the people who could lose their jobs to robots!Robots that take care of older people sound helpful, but it's kinda sad if an older person only has robots to keep them company instead of real people. Having robots as friends seems pretty lonely to me. And some people are honestly just creeped out by robots, especially if they look too human-like. Having a robot pretending to be a person makes some grown-ups feel really uncomfortable for some reason.Another worry is that some day, super intelligent robots could become smarter than humans. If that happened, those robots might not want to follow our orders and rules anymore. A robot that gets TOO smart could maybe even try to take over and rule the world! That sounds like a scary movie, doesn't it? I really hope robots always listen to their human creators.But you know, even regular robots that aren't evil geniuses could cause big problems by accident. What if a big, strong robot gets a glitch and starts swinging its powerful arms around? It could seriously hurt someone! Or a self-driving robot car might have an error and crash into something. Robots have to be programmed very, very carefully so they don't make dangerous mistakes.And let's not forget about privacy! Some robots have cameras and sensors to see the world around them. But if those robots get hacked by bad people, those cameras could be used to spy on your private life at home. Nobody wants a creepy robot peeping through their window! Robots need really good cyber security to protect our privacy.So those are some of the pros and cons of robots from my perspective. Robots can help us in so many cool ways, like with building, medicine, dangerous jobs, and taking care of people. But we also have to be careful that robots don't。
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The development trend of the robot1. Preface:Climbing robot is an important branch in the field of mobile robot, flexible mobile on vertical wall, replace artificial under the condition of the limit to complete various tasks, is one of the hotspot in research of the robot. It is mainly used in the nuclear industry, petrochemical industry, shipbuilding, fire departments and investigation activities, such as the building external wall cleaning, material storage tank in petrochemical enterprise testing and maintenance, the outer wall of large steel plate spray paint, and in building accident rescue and relief, etc., and achieved good social benefits and economic benefits, has wide development prospects.After 30 years of development, the field of robot which has emerged a large number of fruitful results, especially since the 1990 s, especially rapid development in the field of climbing robot at home and abroad. In recent years, due to the development of a variety of new technology, the robot which solved many technical challenges, greatly promote the development of the climbing robot. The robot design activities of universities in our country also has a wide development, this kind of atmosphere for our robot research and development of special and professional talents' cultivation is of positive significance.2. Climbing robot research status abroad1966 Japanese professor west light wall mobile robot prototype is developed for the first time, and performance success in Osaka prefecture university. This is a kind of rely on negative pressure adsorption climbing robot. Then appeared various types of climbing robot, has already begun to the late 80 s application in the production. Japan's most rapid development in the development of climbing robot, mainly used in the construction industry and nuclear industry. Such as: Japan shimizu construction company has developed with the outer wall of the building industry coating with ceramic tile of the robot, they developed by negative pressure adsorption cleaning climbing robot, on the surface of the glass for the Canadian embassy to clean. Tokyo university of technology development of the wireless remote control magnetic adsorption climbing robot. In Japan's miti "limit homework robot" national researchprojects, supported by day CDH, developed a large pot of negative pressure adsorption surface inspection robots used in nuclear power plants, etc.Other countries are also added to the climbing robot research upsurge, such as: Seattle Henry R Seemann under the funding of the Boeing company developed a vacuum adsorption crawler "AutoCrawler" robot. On the two tracks each containing a number of small adsorption chamber, with the moving of the crawler, adsorption chamber form continuous vacuum cavity and makes the crawler walking against the wall. American CaseWestern Reserve University developed by using four climbing robot prototype "legs". Similar to the first two robots, the robot depends on four "legs" on biomimetic viscous materials to adsorption, the prototype is the four legs wheel on the sole of the foot even special distribution is more advantageous to the robot stable crawling on the wall. The quality of the robot is only 87 g. Polytechnic school in the early 1990 s, British Portsmouth has developed a climbing robot multilegged walking type. Adopting modular design, the robot is composed of two similar modules, each module includes two mechanical legs and leg controller. According to the task need to install a different number of legs, reconfigurable ability. Mechanical legs using bionics mechanism, simulation of the large animals arm muscle function, is two type, including upper and lower two and three double-acting cylinder, with three degrees of freedom. Good stability and bearing capacity is big, the robot's lightweight, and can span bigger obstacles. In addition to the leg on one end of vacuum cups, robot equipped with suction cups, abdomen mass ratio of powder and make the robot has a larger load of 2:1.3. Climbing robot research status in ChinaChina is also in a similar study since the 1990 s. In 1988 at the national "863" high technology program, under the support of the robotics institute of Harbin institute of technology has successfully developed the use of magnetic adsorption and vacuum adsorption two series of five types of wall climbing robot. Successful development of the our country the first wall climbing robot remote detection, using negative pressure adsorption, omni-directional mobile wheel, used for nuclear waste storage jars of wall weld defect detection. Developed in 1994 for tall buildings wallclimbing robot cleaning CLR - Ⅰ, adopts the omni-directional mobile mechanism, the robot in situ can arbitrarily change the direction of movement. After the development of the CLR - Ⅱ, driven by two independent ways -- coaxial two-wheeled differential mechanism, through the coordination of two rounds of speed control to realize the omni-directional mobile robot, the robot ontology and using power line carrier communication methods between the ground control station. Above-mentioned three climbing machine adopts single suction cup structure, spring air sealed, ensure the crawl robot with high speed and reliable adhesion ability. In 1995 successfully developed the metal corrosion by magnetic adsorption climbing robot, structure of permanent magnetic adsorption, accomplished by two tracks positive &negative mobile turn. The robot can do for petrochemical enterprises to the outer wall of the metal material storage tank to spray paint, sandblasting, as well as with automatic detection system to test the tank wall thickness. Developed in 1997's detection of water wall climbing robot, a circular permanent magnet adsorption block in conformity with the tank wall arc, improve the adsorption capacity, and improve the efficiency of the operation. Shanghai university also conducted early tall wall cleaning robot research, successively developed a vertical wall climbing robot and spherical wall climbing robot. The spherical wall climbing robot adopts many suckers, negative pressure adsorption, 6 foot independent driving leg feet walking style, can be used for different radius of curvature of the spherical outer wall since 1996, the Beijing university of aeronautics and astronautics has successfully developed WASH2 MAN, CLEANBOT 1, SKYCLEAN, "hanging basket type window robot" and "LanTianJie treasure" curtain wall cleaning robot prototype. For all the window is brushed pneumatic robot; Hanging basket type cleaning robot, the robot depends on the roof of the safety line traction, attached with the negative pressure made by fan robot on the wall in the application background of national grand theatre ellipsoid ceiling cleaning developed suitable for complex curved surface from climbing robot prototype, the climbing mechanism, mobile mechanism, cleaning robot has many similarities, but due to its special working environment and mission requirements, in terms of theory and technology has some particularity.4. The key technology of robot:4.1 adsorption mechanism, adsorption mechanism of action is to produce an upward force to balance the gravity of the robot, keep it on the wall. Currently, magnetic adsorption methods mainly include vacuum negative pressure adsorption, adsorption, propeller thrust and binder etc. Several ways. Due to the adsorption methods each have limitations, climbing robot developed by often targeted strong, applies only to a specific task, difficult to generalize. Robot design need to work on task, environment, choose the right means of adsorption. In recent years, people through the study of the adsorption mechanism of gecko reptiles such as the soles of your feet, making the polymer synthesis of viscous material, the use of van der Waals force between the molecules and molecular materials, can be obtained on the contact area of small huge adsorption capacity, and has the advantages of adsorption has nothing to do with the surface material properties. Short life but at the moment, the use of these materials, the use of a certain number of times after lose viscosity, practical, need further study.4.2 mobile mechanism and motion control system: mobile mechanism and the movement control system of robot which major wheeled mobile mechanism, more foot type, such as caterpillar, among them, the wheel and foot type which has been widely used, caterpillar much for magnetic adsorption method. Obstacle ability is wall robot which used to an important indicator of performance. When work surface is convex, groove, the robot to go through these obstacles, we must have enough obstacle ability. All kinds of mobile mechanism, more foot type robot obstacle-navigation ability is stronger, its each leg small suction cup is placed, when faced with obstacles, can control the "leg", make the small suction cup across the obstacles one by one. Wall mobile mechanism of the robot can make the robot on the premise of reliable adsorption can move on the wall. Due to the particularity of climbing robot working in wall, mobile mechanism and adsorption mechanism exists coupling, which brought some difficulties to the robot's motion control. Than climbing robot sucker foot type and legs with a suction cup at the end, every move a leg needs to be done "to eliminate suction - leg - Wallace leg, left leg - generateadsorption force" a series of actions. In this process, the robot mobile mechanism of the action should coordinate with each other, and the adsorption mechanism to to guarantee the flexible mobile robot on the wall. In addition, there is also a mobile mechanism and adsorption separation, such as single suction cups, robot sucker adsorption, sustainable continuous movement of driving wheel mobile robot, motion control is relatively simple.Energy supply and drive mode: 4.3 the driving mode of energy supply and energy supply way with people via the wire line for the machine to provide energy such as electricity, gas, also has a built-in battery, cylinders and so on. Drive ways mainly have the pneumatic motor and other several ways. Climbing robot is designed to adopt high efficiency quality than drive and source of power, especially the wireless control cases. Using motor drive, energy supply mainly include polymer lithium battery, nickel metal hydride batteries, electrochemical batteries and fuel cells. In addition, due to the energy of internal combustion engine - - gasoline, hydrogen fuel can have higher weight ratio, such as advanced micro internal combustion engine can also be applied to the climbing robot.Safety problems: 4.4 the robot by interference, environmental change circumstances, how to ensure the safety of the robot is attached to the wall without falling, falling or after how to minimize the damage of the robot. The past buildings cleaning climbing robot, developed by most used by in carrying the car at the top of the tower, hoisting and wire rope of insurance system on the robot. Robot for some other purposes, such as detection with small climbing robot, the goal is not sure, cannot use the rope way of insurance, so need to study new way to prevent falling. Could consider using a parachute, small power into a pulp, fast supporting resistance drop plate, etc., these may be a future development direction of climbing robot safety measures.5. Development trend of the robotHard drive, sensor and control the development of software technology has greatly promoted the development of climbing robot technology, the demand of the practical application is also put forward the challenge, the development of robotclimbing robot development trend in the aggregate, basically has the following several aspects. (1) the development of new adsorption technology. Adsorption technology has been a bottleneck of the development of the robot, it determines the application range of the robot. (2) the task of robot from simplification to muti_function change direction. The past most climbing robot which is used for washing, spraying, detection and so on homework, homework tasks are often confined to a single task. Now people want climbing robot can equipped with a variety of tools, are working on different occasions. (3) the miniaturization, micromation is currently the trend of the development of the robot. On the premise of meet the functional requirements, small volume, light quality of robot can be less energy consumption, high flexibility, and in some special occasions are also need robot with small volume. (4) by the mooring operation development to the direction of untethered. Because the robot working space is generally larger, mooring operation greatly limits the robot working space, so, in order to improve the flexibility of robot and expand the working space, no cable is changed and is now and the future development trend of the robot. (5) by simple remote monitoring to intelligent direction. Combined with artificial intelligence, the robot can in a closed environment has a certain capacity for independent decision and complete the task, and have ego to protect ability, is the important direction of mobile robot, is also a important development direction of mobile robot climbing wall. (6) the adaptability of the reconfigurable robot is an important indicator. In order to make the robots could be used in different occasions, according to the mission requirements, under the condition of the system does not need to design, make full use of existing robot system, should make with reconfigurable robot, which has a modular structure. According to the mission requirements, the need of module is directly connected to form a new robot.译文：1.引言：爬壁机器人是移动机器人领域的一个重要分支,可在垂直壁面上灵活移动,代替人工在极限条件下完成多种作业任务,是当前机器人领域研究的热点之一。