机械手-外文翻译
机械手外文翻译__修改版
密级分类号编号成绩本科生毕业设计 (论文)外文翻译原文标题Simple Manipulator And The Control Of It 译文标题简易机械手及控制作者所在系别机械工程系作者所在专业xxxxx作者所在班级xxxxxxxx作者姓名xxxx作者学号xxxxxx指导教师姓名xxxxxx指导教师职称副教授完成时间2012 年02 月北华航天工业学院教务处制译文标题简易机械手及控制原文标题 Simple Manipulator And The Control Of It作者机电之家译名JDZJ国籍中国原文出处机电之家中文译文：简易机械手及其控制随着社会生产力的持续进步和人们生活节奏的日益加快,人们对生产效率也提出了新要求。
而由于微电子技术和计算软、硬件技术的迅速发展和现代控制理论的不断完善,使得机械手技术也快速发展起来,其中气动机械手系统由于其介质来源简便且无污染、组件价格低廉、维修方便以及系统安全可靠等特点,已渗透到工业领域的各个部门,在工业发展中占有重要地位。
本文讲述的气动机械手由气控机械手、XY轴丝杠组、转盘机构、旋转基座等机械部分组成。
主要作用是完成机械部件的搬运工作,能使用于各种不同的生产线或物流流水线中,使得零件搬运、货物运输更快捷、便利。
一.四轴联动简易机械手的结构及动作过程机械手结构如下图1所示,有气控机械手(1)、XY轴丝杠组(2)、转盘机构(3)、旋转基座(4)等组成。
图1.机械手结构其运动控制方式为：(1)由伺服电机驱动可旋转角度为360°的气控机械手(有光电传感器确定起始0点);(2)由步进电机驱动丝杠组件使机械手沿X、Y轴移动(有x、y轴限位开关);(3)可回旋360°的转盘机构能带动机械手及丝杠组自由旋转(其电气拖动部分由直流电动机、光电编码器、接近开关等组成);(4)旋转基座主要支撑以上3部分;(5)气控机械手的张合由气压控制(充气时机械手抓紧,放气时机械手松开)。
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。
机械类英语翻译
机械类英语翻译3D coordinate measurement 三次元量床 boring machine 搪孔机 cncmilling machine CNC铣床 contouring machine 轮廓锯床 copy grinding machine 仿形磨床 copy lathe 仿形车床 copy milling machine 仿形铣床 copy shaping machine 仿形刨床 cylindrical grinding machine 外圆磨床 die spotting machine 合模机 drilling machine ?孔机 engraving machine 雕刻机engraving E.D.M. 雕模放置加工机 form grinding machine 成形磨床 graphite machine 石墨加工机 horizontal boring machine 卧式搪孔机horizontal machine center 卧式加工制造中心 internal cylindrical machine 内圆磨床jig boring machine 冶具搪孔机 jig grinding machine 冶具磨床 lap machine 研磨机 machine center 加工制造中心 multi model miller 靠磨铣床NC drilling machine NC钻床 NC grinding machine NC磨床 NC lathe NC车床NC programming system NC程式制作系统 planer 龙门刨床 profile grinding machine 投影磨床 projection grinder 投影磨床 radial drilling machine 旋臂?床 shaper 牛头刨床 surface grinder 平面磨床 try machine 试模机 turret lathe 转塔车床 universal tool grinding machine 万能工具磨床vertical machine center 立式加工制造中心 wire E.D.M. 线割放电加工机Assembly line 组装线 Layout 布置图 Conveyer 流水线物料板 Rivet table 拉钉机 Rivet gun 拉钉枪 Screw driver 起子 Pneumatic screw driver 气动起子 worktable 工作桌 OOBA 开箱检查 fit together 组装在一起 fasten 锁紧(螺丝) fixture 夹具(治具) pallet 栈板 barcode 条码 barcode scanner 条码扫描器fuse together 熔合fuse machine热熔机repair修理operator作业员QC品管supervisor 课长ME 制造工程师MT 制造生技cosmetic inspect 外观检查inner parts inspect 内部检查thumb screw 大头螺丝lbs. inch 镑、英寸EMI gasket 导电条front plate 前板rear plate 后板chassis 基座bezel panel 面板power button 电源按键reset button 重置键Hi-pot test of SPS 高源高压测试Voltage switch of SPS 电源电压接拉键sheet metal parts 冲件plastic parts 塑胶件SOP 制造作业程序material check list 物料检查表 work cell 工作间trolley 台车carton 纸箱sub-line 支线left fork 叉车personnel resource department 人力资源部production department生产部门 planning department企划部 QC Section 品管科stamping factory冲压厂 painting factory烤漆厂molding factory成型厂common equipment常用设备 uncoiler and straightener整平机 punching machine 冲床 robot机械手hydraulic machine油压机 lathe车床planer |plein|刨床miller铣床grinder磨床linear cutting线切割electrical sparkle电火花 welder电焊机staker=reviting machine铆合机position职务president董事长general manager总经理 special assistant manager特助 factory director厂长department director部长 deputy manager | =vice manager副理section supervisor课长deputy section supervisor =vice section superisor副课长group leader/supervisor组长 line supervisor线长assistant manager助理to move, to carry, to handle搬运 be put in storage入库pack packing包装to apply oil擦油to file burr 锉毛刺final inspection终检to connect material接料 to reverse material 翻料 wet station沾湿台Tiana天那水cleaning cloth抹布to load material上料to unload material卸料to return material/stock to退料 scraped |\\'skr?pid|报废scrape ..v.刮;削deficient purchase来料不良 manufacture procedure制程 deficient manufacturing procedure制程不良oxidation |\\' ksi\\'dei?n|氧化 scratch刮伤dents压痕defective upsiding down抽芽不良defective to staking铆合不良 embedded lump镶块feeding is not in place送料不到位 stamping-missing漏冲production capacity生产力 education and training教育与训练 proposal improvement提案改善 spare parts=buffer备件forklift叉车trailer=long vehicle拖板车下面是赠送的保安部制度范本,不需要的可以编辑删除!!!!谢谢!保安部工作制度一、认真贯彻党的路线、方针政策和国家的法津法觃,按照####年度目标的要求,做好####的安全保卫工作,保护全体人员和公私财物的安全,保持####正常的经营秩序和工作秩序。
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。
机械手外文翻译
机械手外文翻译外文文献原文:Along with the social production progress and people life rhythm is accelerating, people on production efficiency also continuously put forward new requirements. Because of microelectronics technology and calculation software and hardware technology rapid development and modern control theory, theperfection of the fast development, the robot technology pneumatic manipulator system because its media sources do not pollute the environment, simple and cheap components, convenient maintenance and system safety and reliabilitycharacteristic, has penetrated into every sector of the industrial field, in the industrial development plays an important role. This article tells of the pneumatic control robots, furious manipulator XY axis screw group, the turntable institutions,rotating mechanical parts base. Main effect is complete mechanical components handling work, to be placed in different kinds of line or logistics pipeline, make parts handling, transport of goods more quick and convenient.Matters of the manipulator axial linkage simple structure and action processManipulator structure, as shown in figure 1 below have accused of manipulator (1), XY axis screw group (2), the turntable institutions (3), rotating base (4), etc.Its motion control mode is: (1) can rotate by servomotor Angle for 360 ? breath control manipulator (photoelectric sensor sure start 0 point); (2) by stepping motor drive screw component make along the X, Y manipulators move (have X, Y axis limit switches); (3) can rotates 360 ? can drive the turntable institutionsmanipulators and bushings free rotation (its electric drag in partby the dc motivation, photoelectric encoder, close to switch etc); (4) rotating base main support above 3 parts; (5) gas control manipulator by pressure control (Zhangclose when pressed on, put inflatable robot manipulators loosen)when gas.Its working process for: when the goods arrived, manipulator system begins to move; Stepping motor control, while the other start downward motion along thehorizontal axis of the step-motor controller began to move exercise; Servo motordriver arrived just grab goods manipulators rotating the orientation of the place, then inflatable, manipulator clamped goods.Vertical axis stepper motor drive up, the other horizontal axis stepper motordriver started to move forward; rotary DC motor rotation so that the whole robot motion, go to the cargo receiving area; longitudinal axis stepper motor driven down again, arrived at the designated location, Bleed valve, mechanical hand releasethe goods; system back to the place ready for the next action.II. Control device selectionTo achieve precise control purposes, according to market conditions, selection of a variety of key components as follows:1. Stepper motor and driveMechanical hand vertical axis (Y axis) and horizontal (X axis) is chosen Motor Technology Co., Ltd. Beijing Stone 42BYG250C type of two-phase hybrid steppingmotor, step angle of 0.9 ? / 1.8 ?, current is 1.5A. M1 is the horizontal axis motor driven manipulator stretch, shrink; M2 is thevertical axis motor driven manipulator rise and fall. The choice of stepper motor drive is SH-20403 type, the drive uses10 ~ 40V DC power supply, H-phase bridge bipolar constant current drive, themaximum output current of 3A of the 8 optional, maximum fine of 64 segments of7 sub-mode optional optical isolation, standard single-pulse interface, with offlinecapabilities to maintain semi-sealed enclosure can be adapted to environmentalconditions even worse, provide semi-current energy-saving mode automatically.Drive the internal switching power supply design to ensure that the drive can be adapted to a wide voltage range, the user can according to their circumstances to choose between the 10 ~ 40VDC. Generally the higher rated power supply voltagecan improve high-speed torque motor, but the drive will increase the loss and temperature rise. The maximum output drive current is 3A / phase (peak), six drive-panel DIP switch on the first three can be combined 5,6,7 8 out of state,corresponding to the 8 kinds of output current from 0.9A to 3A to meet the different motors. The drive can provide full step, half step improvement, subdivision 4,8 segments, 16 segments, 32 segments and 64 segments of 7 operating modes.The use of six of the drive panel DIP switches 1,2and3 can be combined fromthree different states.2. Servo motors and drivesManipulator with Panasonic servo motor rotational movement A series of small inertia MSMA5AZA1G, the rated 50W, 100/200V share, rotary incrementalencoder specifications (number of pulses 2500p / r, resolution of 10000p / r, Lead 11 lines) ; a seal, no brakes, shaft with keyway connections. The motor uses Panasonic's unique algorithms, the rate increased by 2 times the frequencyresponse, to 500Hz; positioning over the past adjust the scheduled time by Panasonic servo motor products for the V Series of 1 / 4. With the resonance suppression, control, closed loop control, can make up for lack of mechanical rigidity, in order to achieve high positioning accuracy can also be an external grating to form closed loop control to further improve accuracy. With a conventional automatic gain adjustment and real-time automatic gainInterest adjustment in the automatic gain adjustment methods, which also hasRS-485, RS-232C communication port, the host controller can control up to 16 axes. Servo motor drives are a series MSDA5A3A1A, applicable to small inertiamotor.3. DC machine360 ? swing of the turntable can be a brushless DC motor driven organization, thesystem is chosen when the profit company in Beijing and the57BL1010H1 brushless DC motor, its speed range, low-speed torque, smooth running, lownoise, high efficiency. Brushless DC motor drive using the Beijing and when Lee'sBL-0408 produced by the drive, which uses 24 ~ 48V DC power supply, a start-stop and steering control, over current, overvoltage and lockedrotor protection,and there is failure alarm output external analog speed control, braking down so fast.4. Rotary encoderCan swing 360 ? in the body on the turntable, fitted with OMRON E6A2 produced incremental rotary encoder, the encoder signals to the PLC, to achieveprecise positioning of rotary bodies.5. PLC SelectionAccording to the system design requirements, the choice of OMRON CPM2Aproduced minicomputer. CPM2A in a compact unit integrated with a variety of properties, including the synchronization pulse control, interrupt input, pulse output, analog set and clock functions. CPM2A the CPU unit is a stand-alone unit,capable of handling a wide range of application of mechanical control, it is built in the device control unit for the ideal product. Ensure the integrity of communications and personal computers, other OMRON PC and OMRON Programmable Terminal communication. The communication capability allows the robot to Axis simple easyintegration into industrial control systems.III. Software programming1. Software flow chartPLC programming flow chart is based. Only the design flow, it may be smoothand easy to prepare and write a statement form the ladder, and ultimately complete the process design. So write a flow chart of program design is critical to the task first thing to do. Axis Manipulator based on simple control requirements, drawing flow chart shown in Figure 2.2. Program partBecause space is limited, here only paper listed the first two programsegment for readers see.IV. ConclusionAxis simple robot state by the various movements and PLC control,the robot can not only meet the manual, semi-automatic mode of operation required for sucha large number of buttons, switches, position detection point requirements, but also through the interface components and Computer Organization PLC industrial LAN, network communication and network control. Axis simple robot can be easilyembedded into industrial production pipeline.中文译文:随着社会生产不断进步和人们生活节奏不断加快,人们对生产效率也不断提出新要求。
机械手翻译
Industrial Robots1.Manipulator overview of RobotsIt is the ancient robot in early appearance and developed on the basis of research into the middle of the twentieth century manipulator, along with the computer and automation technology development, especially the first digital electronic computer in 1946, since the advent of computer made amazing progress, to high speed, high capacity, low price direction. Meanwhile, the urgent demand of mass production of promoting automation technology progress, and for the development of robots laid a foundation. On the other hand, nuclear technology research requires certain operating machine instead of people handle the radioactive substances. In this one requirement background, the United States is developed in 1947, in 1948 and remote control robot developed mechanical master-slave manipulator.From the United States began developing manipulators first. In 1954 the United States first suggested the wear wal-mart, and the concept of industrial robot applied for patent. This patent point is using servo technology control of the robot joints, using an action on the robot hands, the robot can realize. Teaching movement recording and playback. This is the so-called demonstration emersion robot. The existing robots are using this kind of control mode. 1958 united control company developed the first manipulator riveting robot. As the earliest practical model robot products (demonstration reappearance) is 1962 U.S. AMF company launched "VERSTRAN" and UNIMATION company launched "UNIMATE". These industrial robot mainly by similar man's hands and arms who composed it can replace the hard labor in order to achieve production mechanization and automation, can in harmful environment operation to protect the personal safety and thus widely used in mechanical manufacturing, metallurgy, electronics, light industry and atomic energy and other departments.Industrial robot CaoZuoJi (by mechanical body), controller, servo drive system and detection sensor, making it a humanoid operation, automatic control, can repeat programming, can finish all kinds of assignments in 3d space the electromechanical integration automation production equipment. Particularly suitable for many varieties, change of flexible production batch. It to help stabilize, improve product quality, raise efficiency in production, improve working conditions and product rapid renewal plays an extremely important role.Robotic technology is integrated with computer, cybernetics, organization learning, information and sensing technology, artificial intelligence, bionics science and the formation of high technology and new technology, is a very active, contemporary study applied more and more widely. Robot applications, is a national industrial automation level of important symbol.Robot and not in the simple sense of labor, but replace artificial comprehensive people skills and machine a personification of the specialty of electronic machinery, already someone on the environment condition of rapid reaction and the analysis judgment ability, and a machine could be longer duration of work, high precision and the ability of resistance to bad environment, in a sense it is also machine process of evolution product, it is an important industrial and the industry production and service, but also set the advanced manufacturing technology field indispensable automation equipment.Manipulator is part of the action imitating the hands, according to the given program, track and demanding acquirement, handling or operation of the automatic mechanical device. In the industrial production of the application of industrial robots called "robot". Application of manipulator can be used to increase production level of automation production and labor productivity: can reduce laborintensity, assure product quality, achieve safety production; Especially in high temperature, high pressure, low temperature, low pressure and dust, explosive, toxic gases and radiation etc harsh environment, it instead of human normal work, meaning more significant. Therefore, in the mechanical processing, stamping, casting, forging, welding, heat treatment, electroplating, paint, assembly and light industry, transportation etc widely quoted are increasingly.The structure of the manipulator is simpler, specificity form began, strong for a machine tool's only feeder, and was attached to the machine's special manipulator. Along with the development of industrial technology, made by an independent program control realization repeated operation, suitable scope is wider "program control general manipulator", or general manipulator. Due to the change of general manipulator can quickly working procedures, good adaptability, so it continues to transform the medium and small batch production products gain extensive reference .posed of the manipulator1)ActuatorsHandNamely parts in contact with objects. Due to the different forms of contact with objects, can be divided into clamping type and adsorption the hands. Gripping type hand fingers (or by PAWS) and power transmission institution constitutes. Fingers are in direct contact with the object of components, common finger movement forms have moved back to the transformation of peace. Back to the transformation of simple structure, easy fingers, so application component manufacturing is widely applied translation type, its reason is less complicated structure, but translations type circular parts, fingers clamping workpiece diameter variation do not affect its axis position, therefore appropriate clamping diameter variation range workpiece.Finger structure by grasping object depends on surface shape, caught parts (the profile or within hole) and object weight and dimensions. Common refers to a flat, form the v-shaped finger and surface: the clip type and inside there supporting type; Index has double refers to type, by type and hands of double refers to type, etc.But the force transmission institution is produced by clamping force fingers to accomplish the task. Put objects clips Power transmission institutions are: the more commonly used type sliding channel, connecting lever lever type, bevel gear lever type, type, screw nut upper-and-lower, type spring type and gravity type, etc.Enclosed type hand made mainly by chuck, it is to rely on adsorption force (such as chuck formed in the negative pressure or an electric suction magnetic) adsorption objects, the corresponding adsorption hand have negative pressure and electric disk two kinds of suckers.For light small flake parts, smooth plate materials, usually with negative pressure chuch suck material. The way cause negative pressure air suction and vacuum pump type.To guide magnetic ring type and the plate with a hole, and have such parts of sheet etc (meshes, usually use electro-magnetic chuck suck material. The suction electro magnetic chuch by dc magnets and production. Communication electromagnet.With negative pressure chuch and electro magnetic chuch absorb charge, its shape, quantity, suckers absorbability size, according to adsorb object shape, size and weight size and decide.In addition, according to special needs, the hand and spoon type (such as casting manipulatorpoured bag part), Joe type (such as cold gear machine up-down material manipulator hand) type.WristHand and arm is connected components, and can be used to adjust the position by grasping object (i.e. posture).ArmThe arm is supporting caught objects, hand, an important part of the wrist. The arm's role is to drive to grab objects, and fingers predetermined asks its handling to the location specified. Industrial manipulator arm often moving parts by driving arm (such as oil cylinder, cylinders, rack-and pinion institutions, link mechanism, screw mechanism and CAM mechanism, etc.) and drive source (such as hydraulic and pneumatic or motor, etc.), in order to realize the combined arms all kinds of sports.The arm in telescopic or lifting movement, in order to prevent around its axis rotation, need a guide device, to ensure that the finger on the correct direction movement. In addition, orientation device can bear arms were bending moment and torsion moment when turning or arm movement in start-up, brake generated at the moment of inertia, make the moving parts stress state is simple.Orientation device structure form, commonly used are: single cylinder, double cylindrical, four cylinder and v-shaped chamfer, swallow tail trough etc oriented form.PillarPillar is supporting the arm parts, pillar also can be part of the arm and arm turn movement and lift (or pitch) movement are and pillar are closely linked. Manipulator to usually set for fixed, but need because of the job, sometimes also can make lateral movement, namely called will move a type bar.Walk InstitutionsWhen industrial robots need to complete a remote operation, or expanded use scope, the same seat installation roller, rail, etc, in order to realize the mobile mechanism of the machine movement. Industrial robots Roller type can be divided into the mobile mechanism of sounds and two trolley. Drive roller motion should be additional mechanical transmission device.BaseSeating is basic parts of manipulator, manipulator actuator components and the drive system are installed in on standby, so the role of the support and links.2)Drive systemDrive system is driving industrial robots actuators movement of the power unit, usually by power supply, the control adjusting device and auxiliary device component. The drive system used in hydraulic transmission, pneumatic transmission, power transmission and mechanical transmission etc 4 form..3)Control systemControl system is dominated by the requirements of industrial robots sport system. At present the control system of industrial robots by process control system and general electric positioning (or mechanical stop pieces positioning) systems. Control system has the electrical control and jet controltwo kinds, it dominates the manipulator procedures stipulated by the movement, according to people and memory of the manipulator instruction information (such as action sequence, trajectory, movement speed and time), and according to the control system of the information instruction executive agencies and, when necessary, the action of manipulator when motion surveillance, any error or fault alarm signal that..4)Position detection deviceControlling manipulator actuator position and keep movement of actuator actual position feedback to control system, and with setting the position to compare, and then adjusted by controlling system, thus make actuators to certain accuracy reached set position.3.Manipulator classificationThere are many kinds of industrial robots, about classification problems, at present in China, not unified classification standard in this temporary by use scope, drive mode and classify control system, etc.1)According to utility centRobots can be divided into special manipulator and general manipulator two:1.special manipulatorIt is attached to the host and have fixed program without independent control system mechanism. Special manipulator with action, less work object single, simple structure and reliable operation and cost low characteristic, suitable for big affiliate, such as automatic machine, automatic line and discharge of robot and 'processing center "the automatic automation production batch cutter replacement manipulator.2. general manipulatorIt is a kind of independent control system, program variable, action flexible manipulator. Through the adjustment may be used in different occasions, driving system and lattice performance range, its actions program is variable, the control system is independent. General manipulator work range, higher precision and versatility, applicable to the production of changing medium and small batch automation production.General manipulator according to the control can be divided into different ways of the positioning of the simple type and servo type two kinds: simple type with "opening and closing" type control positioning, can only be position control: servo type has servo system, can point position control system, also can achieve continuous control path control general servo model gm manipulator belong to nc type.2)According to the driving way points1. hydraulic transmission manipulatorBased on the hydraulic pressure to drive the actuators movement of the manipulator. Its main features are: catch weight of several hundred kg, stable transmission, compact structure, action quick. But for sealing device requirements, otherwise the oil leakage strictly to the working performance of the manipulator has a great influence, and not in work under high temperature, low temperature. If the manipulator by applying electro-hydraulic servo drive system, can achieve continuous trajectory control, make the manipulator, but universal expand electro-hydraulic servo valve manufacturingprecision, oil filter, strict cost are high.2. pneumatic theories.supported manipulator based on pressure of compressed air to drive the actuators movement of the manipulator. Its main features are: media sources is extremely convenient, output force is small, pneumatic action quick, simple structure, low cost. However, due to the air has compressible characteristics and work rate, the poor stability, and impact low air pressure, catch in commonly 30 kilograms heavy weight below, under the same conditions it caught the structure than hydraulic manipulator, so suitable for high-speed, light load, high temperature and dust big environment to work in.3. mechanical transmission manipulatorNamely the mechanical transmission (such as CAM, connecting rod, gear and rack, intermittent mechanism, etc) driven manipulators. It is a kind special the attached to work host manipulator, its power is passed by working machinery. Its main characteristic is accurate and reliable, action frequency motion, but structure is bigger, action program immutable. It is often used to work and discharge of host.4. power transmission manipulatorNamely, have special structure induction motors, linear motor or power step-motor direct driving actuators movement of the manipulator, because do not need the change in the middle, so the mechanical structure simple organization. One of the manipulator, the linear motor speed and longer journeys movement, maintaining and easy to use. Such manipulator is still small, but promising.3)According to the control mode points1. position controlIts movement for space between point-to-point control movement of mobile, only the position of several points in the process, unable to control its trajectory. If you would control points, you must increase more than the complexity of the electrical control system. Current use of special and general industrial robots are such.2. continuous trajectory controlIts trajectory of any continuous curve for the space, its characteristic is set point for unlimited, the whole mobile process under control, can achieve smooth and accurate movement, and use range, but the electrical control system is complicated. This kind of industrial robots generally USES small computer control.4.The application of industrial robots in production and its significanceBecause of its high flexibility and robot in life, manufacturing performance in various fields such as plays a very important role. It can carry goods, sort and products, and can in harmful environment to protect life safety operation, instead of man's heavy labor, so are widely used in machinery manufacturing, light industry and needs goods handling various places.In modern industry, the production process automation has become a prominent theme. The automation level from all walks of life becomes more and more high, modern processing workshop, often with manipulator to improve production efficiency, complete workers difficult to complete or dangerous job. Available in mechanical industry, processing, assembling and other production largely is not continuous. According to data is introduced, the American production in all industrial parts, 75percent is small batch production; Metal processing production batch of three-quarters under 50 pieces on the machine parts in real time accounted for only parts processing production time 5%. Here you can see, loading and unloading, handling, carrying the process such as the urgency of industrial robots mechanized for realizing these processes is automated and of generation. At present the finished work of manipulator are often used to have: injection industry from the mold to grab products and fast curing to the next will product production processes; Manipulator processing industry for picking, feeding; Casting industry for high temperature melting extracted liquid etc. Robots in automation workshop for transporting materials, engaged in welding, painting, assembling process operation, but will operate workers from onerous, drab, repeat liberated the manual labor. Especially in high temperature, dangerous or harmful work environment (radioactive, poisonous gas and dust, inflammable, explosive, strong noise, etc.), usable parts operation instead of manipulator. At present, the manipulator has been widely used in casting, forging, stamping, machining, paint, the assembly and so on various processes.In mechanical industry, the significance of application manipulator can be summarized as follows:1. To improve the production process of automationThe robot conducive to the realization of materials used, workpiece loading, unloading and transmit the cutter replacement and machine assembly etc, thus the automation degree can improve labor productivity and reduce production cost.2. To improve working conditions, and avoid personal accidentIn high temperature, high pressure, low temperature, low pressure and dust, noise and smell, or radioactive or have other toxic pollution and working space in the occasion of narrow choose and employ persons is dangerous hands direct operation or impossible, and the use of robots can part or all of the replace man safe working conditions, make homework improves.In some simple, repetitive, especially a heavy operation to replace man, robot can avoid due to negligence operating fatigue or accidents.3. Can relieve human, and facilitate the rhythmic productionInstead of people applied manipulator work, it is the one aspect of the direct reduce manpower, and because the application can be continuous work, robot is to reduce the human and another side. Therefore, the comprehensive processing in automatic machine, automatic line now barely manipulator, to reduce the manpower and the more accurate control production beat, facilitate rhythmic work on production.To sum up, the effective application of mechanical industry development manipulator, is an inevitable trend.。
机械手外文翻译
The development of a mobile manipulator imaging system forbridge crack inspectionPi-Cheng Tung*,Yean-Ren Hwang,Ming-Chang WuDepartment of Mechanical Engineering,National Central University,32054Chung-Li,TaiwanAccepted15February2002AbstractA mobile manipulator imaging system is developed for the automation of bridge crack inspection.During bridge safety inspections,an eyesight inspection is made for preliminary evaluation and screening before a more precise inspection.The inspection for cracks is an important part of the preliminary evaluation.Currently,the inspectors must stand on the platform of a bridge inspection vehicle or a temporarily erected scaffolding to examine the underside of a bridge.However,such a procedure is risky.To help automate the bridge crack inspection process,we installed two CCD cameras and a four-axis manipulator system on a mobile vehicle.The parallel cameras are used to detect cracks.The manipulator system is equipped with binocular Charge Coupled Devices(CCD)for examining structures that may not be accessible to the eye.The system also reduces the danger of accidents to the human inspectors.The manipulator system consists of four arms.Balance weights are placed at the ends of Arms2and4,respectively,to maintain the center of gravity during operation.Mechanically,Arms2and4can revolve smoothly.Experiments indicated that the system could be useful for bridge crack inspections.Keywords:Bridge crack inspection;Binocular image;Manipulator system1.IntroductionA bridge is one of the most critical transportation structures.Serious damage to a bridge due to aging,or destruction arising from external forces,may adversely affect a bridge’s structural safety.Therefore,overall inspections and evaluations are essential to give a thorough picture of the current condition of a bridge to evaluate those which are necessary to carry out maintenance or repairs to any damaged structural components,ensuring the safety of the bridge.Generally,bridge inspection consists of two steps: a preliminary inspection and a detailed inspection. The preliminary inspection is mainly performed by people,and the results are used for a preliminary evaluation of the bridge’s safety[1,2].Inspection for cracks is an important part of the preliminary inspec-tion.A more detailed inspection,such as,for non-fracture or fracture inspections,loading tests and earthquake resistance evaluations,means of further inspections with different kinds of instruments[3]. Therefore,in terms of the overall efficiency of the bridge,maintenance on the eyesight inspection may*Corresponding author.Tel.:+886-3-426-7304;fax:+886-3-425-4501.E-mail address:t331166@.tw(P.-C.Tung).Automation in Construction11(2002)717–729discover damage to a bridge’s structure earlier,ena-bling the problem and the extent of the damage to be roughly estimated in advance.The information obtained from an eyesight inspection can then be used as a preliminary evaluation basis for screening before further inspection with instruments is made.There are some major advantages to the eyesight inspection of a bridge,i.e.it is easy to do,it saves time and costs,and it is efficient.Currently,the inspectors must stand on the platform of a bridge inspection vehicle or on a temporarily erected scaffolding to exa-mine the structure underside of the bridge and the portions above the water surface that cannot be seen directly by the eye.Fig.1shows the inspectors stan-ding on the platform of a bridge inspection vehicle. Fig.2shows the inspectors standing on a temporary scaffolding[4,5].As there are so many bridges,how to heighten inspection efficiency,while at the same time protecting the safety of the inspectors becomes an important issue.A robot system for the underwater inspection of bridge piers has already been investi-gated[6].Inspection by means of the above-mentioned ins-pection vehicle or temporary scaffolding may lead to accidents involving the inspectors.To eliminate such a danger,we developed a manipulator system,equip-ped with binocular Charge Coupled Devices(CCD) cameras.Two CCD cameras are installed on atwo-Fig.1.Inspectors standing on the platform of a bridge inspection vehicle.P.-C.Tung et al./Automation in Construction11(2002)717–729718axis rotational frame laid on the front end of Arm 4of the manipulator system.Binocular stereo images are simultaneously captured by CCD cameras and transmitted to the computer through a transmission cable.The CCD images,which contain physical noise,need to be processed before crack positions can be determined.Traditional pattern matching algorithms [7–10]require a large memory and a long computa-tion time.Furthermore,these methods are also sensi-tive to image noise.To solve these problems,we propose a new algorithm that can integrate the gray-ness variation along the horizontal axis and thus reduce the processingtime.Fig.2.Inspectors standing on a temporary scaffolding.P .-C.Tung et al./Automation in Construction 11(2002)717–729719Fig.3.The coordination system of the parallel binocular CCDcameras.Fig.4.Images from the(a)left and(b)rightcameras.Fig.5.The(a)left and(b)right images after the Sobel operation.P.-C.Tung et al./Automation in Construction11(2002)717–729 720The remainder of the paper is organized as follows: in Section2,we discuss the new binocular CCD images comparison algorithm,and then obtain the crack’s position.The experimental results are dis-cussed in Section3and a conclusion is given in Section4.2.Crack inspection via binocular CCD camera imagesWe used two parallel CCD cameras,to determine the distance between the object and the cameras.Fig. 3shows the geometric relationship of anobject Fig.6.Total gray value summation along the x-direction for the(a)left and(b)right images.P.-C.Tung et al./Automation in Construction11(2002)717–729721appearing before the two cameras.A coordinate system is defined at the center of the first CCD camera with its Z-axis along the normal direction of the CCD chips and the X-and Y-axes along the image’s x and y-axes.The following formula can be derived[10]:Z¼kÀk Bx2Àx1;ð1Þwhere k is the lens’focus length,Z represents the distance between the object and the planes of the camera,B represents the distance between the two CCD camera centers,x1,y1are the image coordinates of the first camera and x2,y2are the image coordinates of the second ing Eq.(1),one can find Z,as long as the difference between x1and x2is available. Once Z is found,X and Y can be obtained by the following equations[10].X¼x1kðkÀZÞð2ÞY¼y1kðkÀZÞ:ð3ÞSince the two camera images have a horizontal shift,the value of(x1Àx2)can be found by comparing any disparities between the two CCD images.Pre-vious comparison algorithms for finding the corre-spondence between two images have focused on matching region segments[7]and/or points,and lines [7–10].Due to differences between any two cameras, there may exist variations between images,such as brightness or image noises.A direct comparison of two images using the region matching methods[7] does not usually provide good results for determining these disparities.Although the comparison of signifi-cant image features(such as lines,circles,etc.[7–10]) may provide good results,this also requires a long computation time.Since our CCD cameras are ins-talled in parallel on a two-axis rotational frame laid on the front end of Arm4of the manipulator system,the images captured by the cameras will have a horizontal dislocation in the images’X-direction,as shown in Fig.4.Therefore,we developed a new algorithm to compare the total‘‘projection gray values’’along the image’s horizontal lines.2.1.Projection algorithmThe algorithm has five steps.Step1:Grab the left and right images,i.e.and I l(x,y)and I r(x,y).Illustrated in Fig.4.Fig.7.Total summation difference between the two images along the x-direction.P.-C.Tung et al./Automation in Construction11(2002)717–729722Step2:For the left and right images(denoted by I l(x,y)and I r(x,y),respectively),we find their corre-sponding images(denoted by I w l(x,y)and I w r(x,y), respectively)after the Sobel operation.The images after the Sobel operation are shown in Fig.5.Step3:Project the gray values of I w l(x,y)and I w r (x,y)onto a line parallel to the image’s x-axis.These values are plotted in Fig.6.P lðjÞ¼X mi¼1I w lðj;iÞ;j¼1;2;3...nP rðjÞ¼X mi¼1I w rðj;iÞ;j¼1;2;3...n;where m and n represent the height and the width of the image,respectively.Step4:Define a function J(k)asJðkÞ¼X nj¼1A P lðjþkÞÀP rðjÞA;k¼1;2;3...n:The result is shown in Fig.7.The value of k,which minimizes J,represents the disparity,or the value (x1Àx2),for the two images.Step5:Utilize Eqs.(1)–(3)to calculate the coor-dinates Z,X and Y.2.2.Parameter adjustmentWe designed a series of experiments using different lens focus lengths and variable distances to verify the projection algorithm results.Fig.8shows the exper-imental results when the lens focus length was set to 500mm.The upper(and the lower)curve represents the actual Z value(and the estimated Z value)versus the disparity of the two images.Due to errors in the estimation of Z,the errors in the estimates of X and Y became too large to be used for the manipulator system.Possible reasons include:(i)B,k measure-ment errors,(ii)the non-parallel effect of CCD chips. It is difficult to adjust CCD chips,because they are installed inside the cameras.Even if we could ensure that the cameras are exactly parallel to each other,the normal vector of the CCD chips may not be parallel. Hence,we must add two adjusting parameters to the estimation formula(Eq.(1)).Z¼kÀk Bx2Àx1Âm2þm1;ð4Þwhere m1and m2are the compensation parameters. Parameter m1can be considered as the focus length k adjustment,while m2can be considered as the Bad-Fig.8.Distance estimation for the binocular CCD cameras.Table1Maximum and mean errors after calibrationExperiment Lens focusdistance(mm)Object movementrange(cm)B(mm)k(mm)m1m2Maximumerror(cm)Averageerror(cm)Ex.1Various70–21013325À192.8 1.49 3.25 1.76 Ex.2700mm70–21013325À26.90 1.16000.6840.278 Ex.3Infinite70–21013325À38.90 1.14 1.820.65 Ex.41050mm70–21013325À22.62 1.1600 1.1550.502 Ex.5500mm60–404426.310.079 1.0490.350.168 Ex.62000mm60–404425.317.200.9830.4380.178P.-C.Tung et al./Automation in Construction11(2002)717–729723justment.By minimizing the least square errors of all differences between the actual and the estimated Z values,one can obtain optimal m 1and m 2values.Table 1lists the results for different focus lengths andthe maximum and average errors after calibration.Fig.9shows that,after calibration,the errors between the actual and estimated Z values have been reduced dramatically.As listed in Table 1,the maximum error is 3.5mm and the mean error is 1.68mm when the focus is 500mm,and the working range is 40–60cm.The corresponding errors for the estimated X and Y are less than 1mm.3.Experimental setup and resultsThe manipulator system discussed in this article has four arms.Arm 1is fixed on a revolving platform mounted on the vehicle.Arms 1,2,3and 4,as well as the revolving platform are placed on the vehicle as shown in Fig.10.The four arms are arranged as follows.Arm 1is placed vertically on the platform.Arm 2is laid vertically to Arm 1.On the vertical end of Arm 2,Arm 3is fixed to a 1.8-m long C-shaped steel beam and two other 1.8-m C-shaped steel beams equipped with slides.Through the action of aslidingFig.9.The resultant curves aftercalibration.Fig.10.The manipulator system.P .-C.Tung et al./Automation in Construction 11(2002)717–729724block,Arm 3can move vertically in the direction of the Z axis.The dynamic source for the sliding comes from the lifting device mounted on Arm 2.Arm 4,which is connected perpendicular to the bottom of the Arm 3extension,can revolve around the Arm 3axis.As Arm 4can be extended up to 4m,it is divided into two sections in order to facilitate storage;each section can revolve.The CCD cameras are fastened to the front end of Arm 4,and the images are transmitted via BNC cable to the screen of the control computer.The manipulator system may either revolve or move linearly.Arm 4,driven by a servomotor and a velocity reducer,enables a planar revolution facilitatesthe observation of bridge cracks.An oil-pressure motor and gears drives the revolving platform.Arm 3can move up and down linearly.Table 2Size and function of the manipulator system Number of arm SizeWeight (kg)FunctionArm 1H-shape steel beam:250Â250Â1500mm151.8This is the main support beam of the system;it supports the entire load of the whole structure and can move up and down,which permits Arm 3to move over the bridge railing and then down to facilitate detection.Arm 2H-shaped steel beam:250Â250Â3400mm 169.7Pushes Arms 3and 4over the bridge railing by a revolving movement and supports the load.Balance weight is laid on the arm’s rear end 300Arm 3C-shape steel beam:200Â75Â1800mm 22.976.15Pushes Arm 4below the underside of the bridge surface by a lifting up and down First section:sliding block and sliding rail 200Â10Â1800mm expansion movement.Second section:sliding block and sliding rail 200Â10Â1800mm 76.15Total weight of Arm3175.2Arm 4Section 1,aluminum extrusion:60Â60Â2500mm 7Pushes the CCD camera to the underside of the bridge surface by a revolving action.Section 1,sleeve:90Â80Â250mm3Section 1,balance weight:10Section 2,aluminum extrusion:80Â80Â2500mm 13.5Section 2,front sleeve:100Â100Â250mm 1.5Section 2,balance weight:84Section 2,rear sleeve:110Â100Â250mm 2.9Front ad rear shafts: 2.9Total weight:124.8Total weight of Arms 1,2,3,4and balance weights922Fig.11.Image transmission system.P .-C.Tung et al./Automation in Construction 11(2002)717–729725The dimensions of the manipulator system are as follows:Arm 1—1.7m high,Arm 2—3.4m long,Arm 3—5m long,and Arm 4—4m long.Balance weights are placed at the ends of Arms 2and 4,respectively,to maintain the center of gravity during operation.Thus,Arms 2and 4can rotate smoothly.ToFig.12.The bridge to be inspected and themanipulator.Fig.13.Arm 2is approximately perpendicular to the bridge.P .-C.Tung et al./Automation in Construction 11(2002)717–729726allow these arms to revolve smoothly,thrust bearings are used.Arm 4is made of A6N01S-T5,an integrally formed aluminum intrusion.This type integral forma-tion is used as much as possible during processing in order to reduce the stress concentration.The total weight of the system,including the balance weights,is around 922kg;for further details about the size and function,please refer to Table 2.The image transmission system is comprised of three parts shown in Fig.11,including a camera system,an image capturing system and a computer.A SONY XC-75camera is used,which has agene-Fig.14.Arm 4makes both horizontal and circularmovements.Fig.15.Crack ‘‘a’’measured by the CCD camera’s right eye.P .-C.Tung et al./Automation in Construction 11(2002)717–729727ral resolution 640Â480,or at best 769Â494.The image capturing system uses a Matrix Meteor-II Standard image capture card,which can catch a video signal at up to 60frames/s with a resolution of 640Â480.The system is operated by a multi-media computer.The video signal of the image captured by the CCD camera is transmitted through the system via a BNC cable,which sends it to a personal computer,where it is then displayed on a screen after being processed by the computer’s processing unit.For practical applications,the manipulator system is transported to the desired inspected bridge.Fig.12shows a bridge to be inspected and the manipulator system.Arm 1is fixed on a platform that revolves on the base plate,powered by a 7000-W electric gener-ator.After rotating the revolving platform toward the inspection area,Arm 2will be approximately perpen-dicular to the bridge railing,as shown in Fig.13.Through the action of the sliding block,Arm 3can move vertically in the direction of the Z -axis.Arm 4,which is connected perpendicular to the bottom of the Arm 3extension,can now revolve around the Arm 3axis.Arm 4is driven by a servomotor and a velocity reducer to produce a planar revolution,which facili-tates the bridge cracks observation.Fig.14shows that Arm 4can make both horizontal and circular move-ments that enable it to be extended to the underside of the bridge to observe cracks with the binocular CCD cameras.The images for the same crack ‘‘a’’capturedfrom the right and left cameras are shown in Figs.15and 16,respectively.One can find the horizontal image difference,that is x 2Àx 1,for the crack ‘‘a’’is 119pixels.By applying Eq.(4)derived in Section 2,one finds that the estimated distance from the crack ‘‘a’’to the camera is 1.93m.Also,the crack length is estimated as 8cm by applying Eqs.(2)and (3).This shows that the high degree of accuracy of the system during on-site observations.4.ConclusionWe developed a manipulator system using binoc-ular CCD cameras,which can offer another option to the current manual bridge crack inspection process.This system uses two cameras operated in parallel to detect cracks.A new algorithm is also proposed that will process the binocular images and calculate the crack pared with the current method of inspection,by an inspector standing on the platform of an inspection vehicle or on a temporary scaffolding,the manipulator system decreases the danger of acci-dents.Currently,the use of CCDs with the manipu-lator system is not intended as a human substitute for all inspection works,but may only involve a portion of work,since the human who is put in the same spot as the CCD cameras will take more intensive advant-age of human stereovision capabilities,recognition of color-shades,and ability to perform interactivetestsFig.16.Crack ‘‘a’’measured by the CCD camera’s left eye.P .-C.Tung et al./Automation in Construction 11(2002)717–729728such as scratching of the surface and other tactile investigations.References[1]Federal Highway Administration(FHWA),Bridge Inspec-tion’s Training Manual,July1991.[2]Bridge Maintenance Training Manual,US Federal HighwayAdministration,FHWA-HI-94-034,Prepared by Wilbur Smith Associates,1992.[3]B.Bakht,L.G.Jaeger,Bridge testing—a surprise every time,Journal of Structural Engineering,ASCE116(5)(May1990) 1370–1383.[4]Product Catalog,Paxton-Mitchell Snooper R Underbridge In-spection Machines,26Broadway—26th Floor New York,NY 10004USA.[5]Shibata Tsutomu,Shibata Atsushi,Summary Report of Re-search and Study on Robot Systems for Maintenance of High-ways and Bridges,Robot,no.118,Sep.1997,JARA Tokyo, Japan,pp.41–51.[6]J.E.De Vault,Robot system underwater inspection of bridgepiers,IEEE Instrumentation and Measurement Magazine3(3) (Sept.2000)32–37.[7]G.Medioni,R.Nevatia,Segment-based stereo matching,Computer Vision,Graphics and Image Processing,vol.31, (1985)2–18.[8]K.Kawasue,T.Ishimatsu,3-D measurement of moving papersby circular image shifting,IEEE Transactions on Industrial Electronics(1997)703–706.[9]N.Ayache,B.Faverjon,Efficient registration of stereo imagesby matching graph descriptions of edge segments,Internation-al Journal of Computer Vision(1987)107–131.[10]K.S.Fu,R.C.Gonzalez,S.G.Lee,Robotics Control,Sensing,Vision,and Intelligence,McGraw-Hill,New York,1987.P.-C.Tung et al./Automation in Construction11(2002)717–729729。
机械设计外文翻译--机器人
Robotthe industrial robot is a tool that is used in the manufacturing environment to increase productivity.It can perform jobs that mights be hazardous to the human worker.One of the first industrial robots was used to replace the nuclear power plants.The industrial robot can also operate on the assembly line 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.A robot is a reprogrammable,multifunctional manipulator designed to more parts,materials tools or special devices through variable pregrammed locations for the performance of a variety of different tasks.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 ppreprogrammed locations are stored in the robot’s memory and are recalled later for continous operation.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.The robotic system can also control the work cell of the operating robot.The work cell of the robot is the total enviroment in which the robot must perform its task.Included within this cell may be the robot manipulator,controller,a work table ,safety features,or a conveyor.In addition, signals from outside device can communicate with the robot.The 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.The base of the manipulator is usually fixed to the floor of the work area.Sometimes,through,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 another.the manipulator is mainly composed of the hand and the motion. The hand is uses for to grasp holds the work piece (or tool) the part, according to is grasped holds the thing shape, the size, the weight, the material and the work request has many kinds of structural styles, like the clamp, therequest hold and the adsorption and so on. The motion, causes the hand to complete each kind of rotation (swinging), the migration or the compound motion realizes the stipulation movement, changes is grasped holds the thing position and the posture. Motion's fluctuation, the expansion, revolving and so on independence movement way, is called manipulator's degree-of-freedom. In order to capture in the space the optional position and the position object, must have 6 degrees-of-freedom. The degree-of-freedom is the key parameter which the manipulator designs. The degree-of-freedom are more, manipulator's flexibility is bigger, the versatility is broader, its structure is also more complex. Generally the special-purpose manipulator has 2~3 degrees-of-freedom.The appendage is the arm of the robot.It can be either a straight,movable arm or a jointed arm and gives the manipulator its various axes of motion.The jointed arm is also known as an articulated arm.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 therobot user to connectdifferent tooling to the wrist for different jobs.The manipulator’saxes allow it to perform work within acertain area.This area is called the work cell of the robot,and its size corresponds to the size of the manipulator.As the robot’physical size increases,the size of the work cell must also increase.The movement of the manipulator is controlled by actuators, or drive system can use electric,hydraulic,or pneumatic power.The energy developed by the drive system is convered 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,geas,and ball screws.The controller is used to control the robot manipulator’movements as well as to control peripheral components within the work cell.The user can program themovements 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 is also required to communicate with peripheral equipment within the work cell.For example,a controller has an input line.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 simple robotic system.The controllers found on the majority of robotic systems are more complex devices and represent state-of-the-art electronics.That is,they are microprocessor-operated.This power allows the controller to be very flexible in its operation.The controller can send electric signals over communication lines.This two- way communication between the robot manipulator and the controller maintains a constant update of the location and the operation of the system.The controller also has the job of communicating with the different plant computer.The communication link establishes the robot as part of a computer-assisted manufacturing(CAM)system.The microprocessor-based systems operate in conjunction with solid-state memory devices.These memory devices may be magnetic bubbles,random-access memory,floppy disk,or magnetic tape.The power supply is the unit that supplies power to the controller and the manipulator.Two types of power are delived to the robotic system.One type of power is the Acpower 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.Industrial 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 envelop or the volume of space within which it can move and perform its designated task.A broader classification of robots can been described as below.Fixed-and Variable-Sequence Robots .The fixed-sequence robot(also called a pick-and place robot)is programmed for a specific sequence of operqtions.Its movements are from point to point ,and the cycle is repeated continuously.The variable-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 deired 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 cantrolled robot is programmed and operatedmuch like a numerically controlled machine .The robot is servocontrolled by digital data ,and its sequence of movements can be changed with relative ease.Intelligent Robot.[3]The intelligent 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.机器人工业机器人是一种提高制造业生产力的工具，它可以承担那些对人类可能有危险的工作。
关于机械手的中英文翻译
外文翻译COMBINATION OF ROBOT CONTROL AND ASSEMBLY PLANNINGFOR A PRECISION MANIPULATOORAbstractThis paper researches how to realize the automatic assembly operation on a two-finger precision manipulator. A multi-layer assembly support system is proposed. At the task-planning layer, based on the computer-aided design (CAD) model, the assembly sequence is first generated, and the information necessary for skill decomposition is also derived. Then, the assembly sequence is decomposed into robot skills at the skill-decomposition layer. These generated skills are managed and executed at the robot control layer. Experimental results show the feasibility and efficiency of the proposed system.Keywords Manipulator Assembly planning Skill decomposition Automated assembly1 IntroductionOwing to the micro-electro-mechanical systems (MEMS) techniques, many products are becoming very small and complex, such as microphones, micro-optical components, and microfluidic biomedical devices, which creates increasing needs for technologies and systems for the automated precision assembly of miniature parts. Many efforts aiming at semi-automated or automated assembly have been focused on microassembly technologies. However, microassembly techniques of high flexibility, efficiency, and reliability still open to further research. Thispaper researches how to realize the automatic assembly operation on a two-finger micromanipulator. A multi-layer assembly support system is proposed.Automatic assembly is a complex problem which may involve many different issues, such as task planning, assembly sequences generation, execution, and control, etc. It can be simply divided into two phases; the assembly planning and the robot control. At the assembly-planning phase, the information necessary for assembly operations, such as the assembly sequence, is generated. At the robot control phase, the robot is driven based on the information generated atthe assembly-planning phase, and the assembly operations are conducted. Skill primitives can work as the interface of assembly planning to robot control. Several robot systems based on skill primitives have been reported. The basic idea behind these systems is the robot programming. Robot movements are specified as skill primitives, based on which the assembly task is manually coded into programs. With the programs, the robot is controlled to fulfill assembly tasks automatically.A skill-based micromanipulation system has been developed in the authors’ lab, and it can realize many micromanipulation operations. In the system, the assembly task is manually discomposed into skill sequences and compiled into a file. After importing the file into the system, the system can automatically execute the assembly task. This paper attempts to explore a user-friendly, and at the same time easy, sequence-generation method, to relieve the burden of manually programming the skillsequence.It is an effective method to determine the assembly sequence from geometric computer-aided design (CAD) models. Many approaches have been proposed. This paper applies a simple approach to generate the assembly sequence. It is not involved with the low-level data structure of the CAD model, and can be realized with the application programming interface (API) functions that many commercial CAD software packages provide. In the proposed approach, a relations graph among different components is first constructed by analyzing the assembly model, and then, possible sequences are searched, based onthe graph. According to certain criterion, the optimal sequence is finally obtained.To decompose the assembly sequence into robot skill sequences, some works have been reported. In Nnaji et al.’s work, the assembly task commands are expanded to more detailed commands, which can be seen as robot skills, according to a predefined format. The decomposition approach of Mosemann and Wahl is based on the analysis of hyperarcs of AND/OR graphs representing the automatically generated assembly plans. This paper proposes a method to guide the skill decomposition. The assembly processes of parts are grouped into different phases, and parts are at different states. Specific workflows push forward parts from one state to another state. Each workflow is associated with a skill generator. According to the different start state and target state of the workflow, the skill generator creates a series of skills that can promote the part to its target state.The hierarchy of the system proposed here ,the assembly information on how to assemble a product is transferred to the robot through multiple layers. The top layer is for the assembly-task planning. The information needed for the task planning and skill generation are extracted from the CAD model and are saved in the database. Based on the CAD model, the assembly tasksequences are generated. At the skill-decomposition layer, tasks are decomposed into skill sequences. The generated skills are managed and executed at the robot control layer.2 Task planningSkills are not used directly at the assembly-planning phase. Instead, the concept of a task is used. A task can fulfill a series of assembly operations, for example, from locating a part, through moving the part, to fixing it with another part. In other words, one task includes many functions that may be fulfilled by several different skills. A task is defined as:T =（Base Part; Assembly Part; Operation）Base_Part and Assembly_Part are two parts that are assembled together. Base_Part is fixed on the worktable, while Assembly_Part is handled by robot’s end-effector and assembled onto the Base_Part. Operation describes how the Assembly_Part is assembled with the Base_Part; Operation ∈ {Insertion_T, screw_T, align_T,...}.The structure of microparts is usually uncomplicated, and they can be modeled by the constructive solid geometry (CSG) method. Currently, many commercial CAD software packages can support 3D CSG modeling. The assembly model is represented as an object that consists of two parts with certain assembly relations that define howthe parts are to be assembled. In the CAD model, the relations are defined by geometric constraints. The geometric information cannot be used directly to guide the assembly operation—we have to derive the information necessary for assembly operations from the CAD model.Through searching the assembly tree and geometric relations (mates’ relations) defined in the assembly’s CAD model, we can generate a relation graph among parts, for example, In the graph, the nodes represent the parts. If nodes are connected, it means that there are assembly relations among these connected nodes (parts).2.1 Mating directionIn CSG, the relations of two parts, geometric constraints, are finally represented as relations between planes and lines, such as collinear, coplanar, tangential, perpendicular, etc. For example, a shaft is assembled in a hole. The assembly relations between the two parts may consist of such two constraints as collinear between the centerline of shaft Lc_shaft and the centerline of hole Lc_hole and coplanar between the plane P_Shaft and the plane P_Hole. The mating direction is a key issue for an assembly operation. This paper applies the following approach to compute the possible mating direction based on the geometric constraints (the shaft-in-hole operation of Fig.3 is taken as an example):1. For a part in the relation graph, calculate its remaining degrees of freedom,also called degrees of separation, of each geometric constraint.For the coplanar constraint, the remaining degrees of freedom are {}z Rot y x R ,,1=. For the collinear constraint, the remaining degrees of freedom are {}z Rot z R ,2=. 1R and 2R can also be represented as {}1,0,0,0,1,11=R and {}1,0,0,1,0,02=R . Here, 1 means that there is a degree of separation between the two parts. {}1,0,0,00,021，= R R , and so, the degree of freedom around the z axis will be ignored in the following steps.In the case that there is a loop in the relation graph, such as parts Part 5, Part 6, and Part 7 in Fig. 2, the loop has to be broken before the mating direction is calculated. Under the assumption that all parts in the CAD model are fully constrained and not over-constrained, the following simple approach is adopted. For the part t in the loop, calculate the number of 1s in in i i ti R R R N ...21=; where ik R is the remaining degrees of freedom of constraint k by part i. For example, in Fig. 2, given that the number of 1s in 7,5part part U and 7,6part part U is larger than 6,5part part U and 5,6part part U , respectively, then it can be regarded that the position of Part 7 is determined by constraints with both Part 5 and Part 6, while Part 5 and Part 6 can be fully constrained by constraints between Part 5 and Part 6.We can unite Part 5 and Part 6 as one node in the relation graph, also called a composite node, as shown in Fig. 2b. The composite node will be regarded as a single part, but it is obvious that the composite node implies an assembly sequence.2. Calculate mating directions for all nodes in the relation graph. Again, beginning at the state that the shaft and the hole are assembled, separate the part in one degree of separation by a certain distance (larger than the maximum tolerance), and then check if interference occurs. Separation in both ±x axis and ±y axis of R1 causes the interference between the shaft and the hole. Separation in the +z direction raises no interference. Then, select the +z direction as the mating direction, which is represented as a vector M measured in the coordinate system of the assembly. It should be noted that, in some cases, there may be several possible mating directions for a part. The condition for assembly operation in the mating direction to be ended should be given. When contact occurs between parts in the mating direction at the assembled state, which can be checked simply with geometric constraints, the end condition is measured by force sensory information, whereas position information is used as an end condition.3. Calculate the grasping position. In this paper, parts are handled and manipulated with two separate probes, which will be discussed in the Sect. 4, and planes or edges are considered for grasping. In the case that there are several mating directions, the grasping planes are selected as G1∩G2∩...∩Gi, where Gi is possible grasping plane/edge set for the ith mating direction when the part is at its free state. For example, in Fig. 4, the pair planes P1/P1′, P2/P2′, and P3/P3′ canserve as possible grasping planes, and then the grasping planes are{}{}{}{}1P1/P 2P2/P ,1P1/P 3P3/P ,1P1/P 3P3/P ,2P2/P ,1P1/P 3_2_1_'='''''''=dir mating dir mating dir mating G G GThe approaching direction of the end-effector is selected as the normal vector of the grasping planes. It is obvious that not all points on the grasping plane can be grasped. The following method is used to determine the grasping area. The end-effector, which is modeled as a cuboid, is first added in the CAD model, with the constraint of coplanar or tangential with the grasping plane. Beginning at the edge that is far away from the Base_Part in the mating direction, move the end-effector in the mating direction along the grasping plane until the end-effector is fully in contact with the part, the grasping plane is fully in contact with the end-effector, or a collision occurs. Record the edge and the distance, both of which are measured in the part ’s coordinate system.4. Separate gradually the two parts along the mating direction, while checking interference in the other degrees of separation, until no interference occurs in all of the other degrees of separation. There is obviously a separation distance that assures interference not to occur in every degree of separation. It is called the safe length in that direction. This length is used for the collision-free path calculation, which will be discussed in the following section.2.2 Assembly sequenceSome criteria can be used to search the optimal assembly sequence, such as the mechanical stability of subassemblies, the degree of parallel execution, types of fixtures, etc. But for microassembly, we should pay more attention to one of its most important features, the limited workspace, when selecting the assembly sequence. Microassembly operations are usually conducted and monitored under microscopy, and the workspace for microassembly is very small. The assembly sequence brings much influence on the assembly efficiency. For example, a simple assembly with three parts. In sequence a, part A is first fixed onto part B. In the case that part C cannot be mounted in the workspace at the same time with component AB because of the small workspace, in order to assemble part C with AB, component AB has to be unmounted from the workspace. Then, component C is transported and fixed into the workspace. After that, component AB is transported back into the workspace again. In sequence b, there is no need to unmount any part. Sequence a is obviously inefficient and may cause much uncertainty. In other words, the greater the number of times of unmounting components required by an assembly sequence, the more inefficient the assembly sequence. In this paper, due to the small -workspace feature of microassembly, the number of times necessary for the mounting of parts is selected as the search criteria to find the assembly sequence that has a few a number of times for themounting of parts as possible.This paper proposes the following approach to search the assembly sequence. The relation graph of the assembly is used to search the optimal assembly sequence. Heuristic approaches are adopted in order to reduce the search times:1. Check nodes connected with more than two nodes. If the mating directions of its connected nodes are different, mark them as inactive nodes, whereas mark the same mating directions as active mating direction.2. Select a node that is not an inactive node. Mark the current node as the base node (part). The first base part is fixed on the workspace with the mating direction upside (this is done in the CAD model). Compare the size (e.g., weight or volume) of the base part with its connected parts, which can be done easily by reading the bill of materials (BOM) of the assembly. If the base part is much smaller, then mark it as an inactive node.3. Select a node connected with the base node as an assembly node (part). Check the mating direction if the base node needs to be unmounted from the workspace. If needed, update a variable, say mount++. Reposition the component (note that there may be not only the base part in the workspace; some other parts may have been assembled with the base part) in the workspace so that the mating direction is kept upside.4. In the CAD model, move the assembly part to the base part in the possible mating direction, while checking if interference (collision) occurs. If interference occurs, mark the base node as an inactive node and go to step 2, whereas select the Operation type according to parts’ geometric features. In this step, an Obstacle Box is also computed. The box, which is modeled as a cuboid, includes all parts in the workspace. It is used to calculate the collision-free path to move the assembly part, which will be introduced in the following section. The Obstacle Box is described by a position vector and its width, height, and length.5. Record the assembly sequence with the Operation type, the mating direction, and the grasping position.6. If all nodes have been searched, then mark the first base node as an inactive node and go to step 2. If not, select a node connected with the assembly node. Mark it as an assembly node, and the assembly node is updated as a base node. Check if there is one of the mating directions of the assembly node that is same as the mating direction of the former assembly node. If there is, use the former mating direction in the following steps. Go to step 3.After searching the entire graph, we may have several assembly sequences. Comparing the values of mount, the more efficient one can be selected. If not even one sequence is returned, then users may have to select one manually. If there are N nodes in the relation graph of Fig. 2b, all of which are not classed as inactive node, and each node may have M mating directions, thenit needs M N computations to find all assembly sequences. But because, usually, one part only has one mating direction, and there are some inactive nodes, the computation should be less than M N .It should be noted that, in the above computation, several coordinate systems are involved, such as the coordinates of the assembly sequence, the coordinates of the base part, and the coordinates of the assembly. The relations among the coordinates are represented by a 4×4 transformation matrix, which is calculated based on the assembly CAD model when creating the relations graph. These matrixes are stored with all of the related parts in the database. They are also used in skill decomposition.3 Skill decomposition and execution3.1 Definition of skill primitiveSkill primitives are the interface between the assembly planning and robot control. There have been some definitions on skill primitives. The basic difference among these definitions is the skill ’s complexity and functions that one skill can fulfill. From the point of view of assembly planning, it is obviously better that one skill can fulfill more functions. However, the control of a skill with many functions may become complicated. In the paper, two separate probes, rather than a single probe or parallel jaw gripper, are used to manipulate the part. Even for the grasp operation, the control process is not easy. In addition, for example, moving a part may involve not only the manipulator but also the worktable. Therefore, to simplify the control process, skills defined in the paper do not include many functions.More importantly, the skills should be easily applied to various assembly tasks, that is, the set of skills should have generality to express specific tasks. There should not be overlap among skills. In the paper, a skill primitive for robot control is defined as:()()()()i Attribute i Condition i Attribute i End i Attribute i Start i Attribute i Action i Attribute Si __,__,__,__,_=Attributes_i Information necessary for Si to be executed. They can be classified as required attributes and option attributes, or sensory attributes and CAD-model-driven attributes. The attributes are represented by global variables used in different layers.Action_i Robots ’ actions, which is the basic sensormotion. Many actions are defined in the system, such as Move_Worktable, Move_Probes, Rotation_Worktable, Rotation_Probes, Touch, Insert, Screw, Grasp , etc. For one skill, there is only one Action. Due to the limited space, the details of actions will not be discussed in this paper.Start_i The start state of Action_i , which is measured by sensor values.End_i The end state of Action_i, which is measured by sensor values.Condition_i The condition under which Action_i is executed.From the above definitions, we may find that skill primitives in the paper are robot motions with start state and end state, and that they are executed under specific conditions. Assembly planning in the paper is to generate a sequence of robot actions and to assign values to attributes of these actions.3.2 Skill decompositionSome approaches have been proposed for skill decomposition. This paper presents a novel approach to guide the skill decomposition. As discussed above, in the present paper, a task is to assemble the Assembly_Part with the Base_Part. We define the process from the state that Assembly_Part is at a free state to the state that it is fixed with the Base_Part as the assembly lifecycle of the Assembly_Part. In its assembly lifecycle, the Assembly_Part may be at different assembly states.Here shows a shaft’s states shown as blocks and associated workflows of an insertion task. A workflow consisting of a group of skills pushes forward the Assembly_Part from one state to another state. A workflow is associated with a specific skill generator that is in charge of generating skills. For different assembly tasks, the same workflows may be used, though specific skills generated for different tasks may be different.The system provides default task templates, in which default states are defined. These templates are imported into the system and instantiated after they are associated with the corresponding Assembly_Part. In some cases, some states defined by the default template may be not needed. For example, if the shaft has been placed into the workspace with accurate position, for example, determined by the fixture, then the Free and In_WS states can be removed from the shaft’s assembly lifecycle. The system provides a tool for users to modify these templates or generate their own templates. The tool’s user interface is displayed in.For a workflow, the start state is measured by sensory values, while the target state is calculated based on the CAD model and sensory attributes. According to the start state and the target state, the generator generates a series of skills. Here, we use the Move workflow in as an example to show how skills are generated.After the assembly task (assembly lifecycle) is initiated, the template is read into the Coordinator. For the workflow Move, its start state is Grasped, which implies that the Assembly_Part is grasped by the robot’s end-effector and, obviously, the position of the Assembly_Part is also obtained. Its target state is Adjusted, which is the state immediately before it is to be fixed with the Base_Part. At the Adjusted state, the orientation of the Assembly_Part is determined by the mating direction, while the position is determined by the Safe Length. Thesevalues have been calculated in the task planning layer and are stored in a database. When the task template is imported, these values are read into the memory at Coordinate and transformed into the coordinates of the workspace.There is an important and necessary step that has to be performed in the skill decomposition phase—the generation of a collision-free path. Here, we use a straight-line path, which is simple and easy calculated. Assume that P3 is the position of the Assembly_Part at the Adjusted state and P0 is the position at the Grasped state. The following approach is applied to generate the path:1. Based on the orientation of the Assembly_Part and mating direction, select skills (Rotate_Table or Rotate_Probes) to adjust the orientation of the part and assign values to the attributes of these skills.2. Based on the Obstacle Box, mating direction, real position/orientation of the Assembly_Part, the intermediate positions P1 and P2 need to be calculated.3. For each segment path, verify whether the Move_Table skill (for a large range) or the Move_Probe skill (for a small range) should be used.4. Generate skill lists for each segment and assign values to these skills.3.3 Execution of skillsAfter a group of skills which can promote the part to a specific state are generated, these skills are transferred to the Skill Management model. The system promotesone or several skills into the On Work Skill list and simultaneously dispatches them to the micromanipulator. Once the skill has been completed by the robot, the system removes it from the OnWork Task list and places it into the Completed Task list. After all of these skills have been completed, the state of the part is updated. For some states, skill execution and skill generation can be conducted in parallel. For example, for the Insertion lifecycle, if the part's position information is obtained, skills for the move workflow can be generated parallel with the execution of skills generated for the Grasp workflow.The assembly process is not closed to users. With the proposed skills management list structure, users can monitor and control the assembly process easily. For example, for the adjustment or the error recovery, users can suspend the ongoing skill to input commands directly or move the robot in a manual mode.4 Experiment4.1 Experimental platformThe experimental platform used in the paper. For microassembly operations, the precision and workspace are tradeoffs. In order to acquire both a large workspace and high precision, the two-stage control approach is usually used. These systems usually consist of two different sets of actuators; the coarse one, which is of large workspace but lower precision, and the fine one, which is of small workspace but higher precision. In our system, the large-range coarse motion is provided by a planar motion unit, with a repeatability of 2 μm in the x and y directions, which is driven by two linear sliders made by NSK Ltd. The worktable can also provide a rotation motion around the z axis, which is driven by a stepper motor with a maximum resolution of 0.1°/step.In the manipulator, two separate probes, rather than a single probe or parallel jaw grippers, are used to manipulate the miniature parts. The two probes are fixed onto two stepper motors with a maximum resolution of 0.05°/step. The two motors are then fixed onto the parallel motion mechanism respectively. It is a serial connection of a parallel-hexahedron link and a parallelogram link. When the 1θ,2θ, and 3θ are small enough, the motion of the end-effector can be considered as linear motion.The magnetic actuator to drive the parallel mechanism consists of an air-core coil and a permanent magnet. The permanent magnet is attached to the parallel link, while the coil is fixed onto the base frame. The magnetic levitation is inherently unstable, because it is weak to external disturbances due to its non-contact operation in nature. To minimize the effect of external disturbances, a disturbance-observer-based method is used to control our micromanipulator.Laser displacement sensors are used to directly measure the probe ’s position. The reflector is attached to the endeffector. Nano-force sensors produced by the BL AUTOTEC company are used to measure the forces. The position resolution of the micromanipulator is 1 um. The maximal resolution of the force is 0.8 gf, and the maximal resolution of the torque is 0.5 gfcm. A more detailed explanation on the mechanism of the manipulator can be found. All assembly operations are conducted under a microscope SZCTV BO61 made by the Olympus Company. The image information is captured by a Sharp GPB –K PCI frame grabber, which works at 25 MHz.4.2 ExperimentAn assembly with three components is assembled with the proposed manipulator. It is a wheel of a micromobile robot developed in the authors'lab. The following geometric constraints are defined in the CAD model: collinear between CL_cup and CL_axis , collinear between CL_gear and CL_axis , coplanar between Plane_cup and Plane_gear_1, coplanar between Plane_gear_1 and Plane_axis. According to the above geometric constraints, the three parts construct a loop in the relation graph.The CAD model is created with the commercial software Solidworks 2005, and its API functions are used to develop the assembly planning model. The assembly Information database is developed with Oracle 9.2. Models involved with skill generation are developed with Visual Basic 6.0. The skill-generation models are run withWindows 2000 on an HP workstation with a CPU of 2.0 G Hz and memory of 1.0 GB. Assuming that the positions of parts are available beforehand, it took about 7 min to generate the skill sequence. The generated assembly sequence is to assemble the gear onto the axis, and then assemble the cup onto the axis and the gear.In the assembly operation, the parts are placed on the worktable with special fixtures and then transported into the workspace, so that their initial position and orientation can be assured. Therefore, in the experiment, all of the skill sequences for the different parts can be generated and then transferred to the Skill Management unit. The skill istransmitted to the micromanipulator through TCP/IP communication. Because the controller of the micromanipulator is run on DOS, the WTTCP tools kit are adopted to develop the TCP/IP communication protocol.Because, currently, the automated control of the fixtures is not realized yet, the parts have to be fixed manually onto the worktable. The promotion between different tasks(assembly lifecycle of different parts) is conducted manually. Here shows some screenshots of the assembly process. In a, the axis is fixed in the workspace; in b, the gear is fixed in the workspace; from c to e, the gear is grasped, moved, and fixed onto the axis by the probes; in f, the cup is fixed in the workspace; from g to i, the cup is fixed with the gear and the axis. It can be found that the proposed system can perform the assembly successfully.5 ConclusionThis paper has introduced a skill-based manipulation system. The skill sequences are generated based on a computer-aided design (CAD) model. By searching the assembly tree and mate trees, an assembly graph is constructed. The paper proposes the approach to calculate the mating directions and grasping position based on the geometric constraints that define relations between different parts. Because the workspace of the micromanipulator is very small, the assembly sequence brings much influence on the assembly sequence. In the present paper, the number of required times of mounting parts in the workspace is selected as the criterion to select the optimal skill sequence.This paper presents a method to guide the skill decomposition. The assembly process is divided into different phases. In one phase, the part is at an assembly state. A specific workflow pushes the part forwards to its target state, which is the next desired state of the part in the。
机械手设计英文参考文献原文翻译
翻译人：王墨墨山东科技大学文献题目：Automated Calibration of Robot Coordinatesfor Reconfigurable Assembly Systems翻译正文如下：针对可重构装配系统的机器人协调性的自动校准T.艾利，Y.米达，H.菊地，M.雪松日本东京大学，机械研究院，精密工程部摘要为了实现流水工作线更高的可重构性，以必要设备如机器人的快速插入插出为研究目的。
当一种新的设备被装配到流水工作线时，应使其具备校准系统。
该研究使用两台电荷耦合摄像机，基于直接线性变换法，致力于研究一种相对位置/相对方位的自动化校准系统。
摄像机被随机放置，然后对每一个机械手执行一组动作。
通过摄像机检测机械手动作，就能捕捉到两台机器人的相对位置。
最佳的结果精度为均方根值0.16毫米。
关键词：装配，校准，机器人1 介绍21世纪新的制造系统需要具备新的生产能力，如可重用性，可拓展性，敏捷性以及可重构性[1]。
系统配置的低成本转变，能够使系统应对可预见的以及不可预见的市场波动。
关于组装系统，许多研究者提出了分散的方法来实现可重构性[2][3]。
他们中的大多数都是基于主体的系统，主体逐一协同以建立一种新的配置。
然而，协同只是目的的一部分。
在现实生产系统中，例如工作空间这类物理问题应当被有效解决。
为了实现更高的可重构性，一些研究人员不顾昂贵的造价，开发出了特殊的均匀单元[4][5][6]。
作者为装配单元提出了一种自律分散型机器人系统，包含多样化的传统设备[7][8]。
该系统可以从一个系统添加/删除装配设备，亦或是添加/删除装配设备到另一个系统；它通过协同作用，合理地解决了工作空间的冲突问题。
我们可以把该功能称为“插入与生产”。
表1：合作所需的调节和量度在重构过程中，校准的装配机器人是非常重要的。
这是因为，需要用它们来测量相关主体的特征，以便在物理主体之间建立良好的协作关系。
这一调整必须要达到表1中所列到的多种标准要求。
- 1、下载文档前请自行甄别文档内容的完整性，平台不提供额外的编辑、内容补充、找答案等附加服务。
- 2、"仅部分预览"的文档,不可在线预览部分如存在完整性等问题,可反馈申请退款(可完整预览的文档不适用该条件!)。
- 3、如文档侵犯您的权益，请联系客服反馈,我们会尽快为您处理(人工客服工作时间：9:00-18:30)。
外文原文 Manipulator Robot developed in recent decades as high-tech automated production equipment. Industrial robot 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 manipulator Robot 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 are those 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