機械專業(yè)外文翻譯--機器人.doc

RobotRobotisatypeofmechantronicsequipmentwhichsynthesizesthelastresearchachievementofengineandprecisionengine,micro-electronicsandcomputer,automationcontrolanddrive,sensorandmessagedisposeandartificialintelligenceandsoon.Withthedevelopmentofeconomicandthedemandforautomationcontrol,robottechnologyisdevelopedquicklyandalltypesoftherobotsproductsarecomeintobeing.Thepracticalityuseofrobotproductsnotonlysolvestheproblemswhicharedifficulttooperateforhumanbeing,butalsoadvancestheindustrialautomationprogram.Atpresent,theresearchanddevelopmentofrobotinvolvesseveralkindsoftechnologyandtherobotsystemconfigurationissocomplexthatthecostatlargeishighwhichtoacertainextentlimittherobotabroaduse.Todevelopmenteconomicpracticalityandhighreliabilityrobotsystemwillbevaluetorobotsocialapplicationandeconomydevelopment.Withtherapidprogresswiththecontroleconomyandexpandingofthemoderncities,theletofsewageisincreasingquickly:Withthedevelopmentofmoderntechnologyandtheenhancementofconsciousnessaboutenvironmentreserve,moreandmorepeoplerealizedtheimportanceandurgentofsewagedisposal.Activebacteriamethodisaneffectivetechniqueforsewagedisposal，Thelacunarisplasticisaneffectivebasementforactivebacteriaadhesionforsewagedisposal.Theabundancerequirementforlacunarisplasticmakesitisaconsequentfortheplasticproducingwithautomationandhighproductivity.Therefore,itisverynecessarytodesignamanipulatorthatcanautomaticallyfulfilltheplasticholding.Withtheanalysisoftheproblemsinthedesignoftheplasticholdingmanipulatorandsynthesizingtherobotresearchanddevelopmentconditioninrecentyears,aeconomicschemeisconcludedonthebasisoftheanalysisofmechanicalconfiguration,transformsystem,drivedeviceandcontrolsystemandguidedbytheideaofthecharacteristicandcomplexofmechanicalconfiguration,electronic,softwareandhardware.Inthisarticle,themechanicalconfigurationcombinesthecharacterofdirectioncoordinateandthearthrosiscoordinatewhichcanimprovethestabilityandoperationflexibilityofthesystem.Themainfunctionofthetransmissionmechanismistotransmitpowertoimplementdepartmentandcompletethenecessarymovement.Inthistransmissionstructure,thescrewtransmissionmechanismtransmitstherotarymotionintolinearmotion.Wormgearcangivevarytransmissionratio.Bothofthetransmissionmechanismshaveacharacteristicofcompactstructure.Thedesignofdrivesystemoftenislimitedbytheenvironmentconditionandthefactorofcostandtechnicallever.Thestepmotorcanreceivedigitalsignaldirectlyandhastheabilitytoresponseouterenvironmentimmediatelyandhasnoaccumulationerror,whichoftenisusedindrivingsystem.Inthisdrivingsystem,open-loopcontrolsystemiscomposedofsteppingmotor,whichcansatisfythedemandnotonlyforcontrolprecisionbutalsoforthetargetofeconomicandpracticality.Onthisbasis，theanalysisofsteppingmotorinpowercalculatingandstyleselectingisalsogiven.Theanalysisofkinematicsanddynamicsforobjectholdingmanipulatorisgivenincompletingthedesignofmechanicalstructureanddrivesystem.Kinematicsanalysisisthebasisofpathprogrammingandtrackcontrol.Thepositiveandreverseanalysisofmanipulatorgivestherelationshipbetweenmanipulatorspaceanddrivespaceinpositionandspeed.Therelationshipbetweenmanipulatorstippositionandarthrosisanglesisconcludedbycoordinatetransformmethod.Thegeometrymethodisusedinsolvinginversekinematicsproblemandtheresultwillprovidetheoryevidenceforcontrolsystem.Thischamfer,Newton-Euripidesmethodisusedinanalysisdynamicproblemof七h(yuǎn)ecleaningrobotandthearthrosisforceandtorquearegivenwhichprovidethefoundationforstepmotorselectingandstructuredynamicoptimalting.Controlsystemisthekeyandcorepartoftheobjectholdingmanipulatorsystemdesignwhichwilldirecteffectthereliabilityandpracticalityoftherobotsysteminthedivisionofconfigurationandcontrolfunctionandalsowilleffectorlimitthedevelopmentcostandcycle.WiththedemandofthePCL-839card,thePCcomputerwhichhasa.tightstructureandiseasytobeextendedisusedastheprincipalcomputercellandtakesthefunctionofsysteminitialization,dataoperationanddispose,stepmotordriveanderrordiagnoseandsoon.Atthesametime,theconfigurationstructurefeatures,taskprinciplesandthepositionfunctionwithhighprecisionofthecontrolcardPCL-839areanalyzed.Hardwareisthematterfoundationofthecontrol.Systemandthesoftwareisthespiritofthecontrolsystem.Thetargetofthesoftwareistocombineallthepartsinoptimizingstyleandtoimprovetheefficiencyandreliabilityofthecontrolsystem.Thesoftwaredesignoftheobjectholdingmanipulatorcontrolsystemisdividedintoseveralblockssuchassysteminitializationblock,dataprocessblockanderrorstationdetectanddisposemodelandsoon.PCL-839cardcansolvethecommunicationbetweenthemaincomputerandthecontrolcellsandtakethemeasureofreducingtheinfluenceoftheoutersignaltothecontrolsystem.Thestartandstopfrequencyofthestepmotorisfarlowerthanthemaximumrunningfrequency.Inordertoimprovetheefficiencyofthestepmotor,theincreaseanddecreaseofthespeedismustconsideredwhenthestepmotorrunninginhighspeedandstartorstopwithgreatacceleration.Theincreaseanddecreaseofthemotorsspeedcanbecontrolledbythepulsefrequencysenttothestepmotordrivewitharationalmethod.Thiscanbeimplementedeitherbyhardwareorbysoftware.Astepmotorshiftcontrolmethodisproposed,whichissimpletocalculate,easytorealizeandthetheorymeansisstraightforward.Themotorsaccelerationcanfitthetorque-frequencycurveproperlywiththismethod.Andtheamountofcalculationloadislessthanthelinearaccelerationshiftcontrolmethodandthemethodwhichisbasedontheexponentialruletochangespeed.Themethodistestedbyexperiment.Atlast,theresearchcontentandtheachievementaresumupandtheproblemsandshortagesinmainthecontentarealsolisted.Thedevelopmentandapplicationofrobotinthefutureisexpected.機器人機器人是典型的機電一體化裝置，它綜合運用了機械與精密機械、微電子與計算機、自動控制與驅(qū)動、傳感器與信息處理以及人工智能等多學(xué)科的最新研究成果，隨著經(jīng)濟的發(fā)展和各行各業(yè)對自動化程度要求的提高，機器人技術(shù)得到了迅速發(fā)展，出現(xiàn)了各種各樣的機器人產(chǎn)品。機器人產(chǎn)品的實用化，既解決了許多單靠人力難以解決的實際問題，又促進了工業(yè)自動化的進程。目前，由于機器人的研制和開發(fā)涉及多方面的技術(shù)，系統(tǒng)結(jié)構(gòu)復(fù)雜，開發(fā)和研制的成本普遍較高，在某種程度上限制了該項技術(shù)的廣泛應(yīng)用，因此，研制經(jīng)濟型、實用化、高可靠性機器人系統(tǒng)具有廣泛的社會現(xiàn)實意義和經(jīng)濟價值。由于我國經(jīng)濟建設(shè)和城市化的快速發(fā)展，城市污水排放量增長很快，污水處理己經(jīng)擺在了人們的議事日程上來。隨著科學(xué)技術(shù)的發(fā)展和人類知識水平的提高，人們越來越認(rèn)識到污水處理的重要性和迫切性，科學(xué)家和研究人員發(fā)現(xiàn)塑料制品在水中是用于污水處理的很有效的污泥菌群的附著體。塑料制品的大量需求，使得塑料制品生產(chǎn)的自動化和高效率要求成為經(jīng)濟發(fā)展的必然。本文結(jié)合塑料一次擠出成型機和塑料抓取機械手的研制過程中出現(xiàn)的問題，綜述近兒年機器人技術(shù)研究和發(fā)展的狀況，在充分發(fā)揮機、電、軟、硬件各自特點和優(yōu)勢互補的基礎(chǔ)上，對物料抓取機械手整體機械結(jié)構(gòu)、傳動系統(tǒng)、驅(qū)動裝置和控制系統(tǒng)進行了分析和設(shè)計，提出了一套經(jīng)濟型設(shè)計方案。采用直角坐標(biāo)和關(guān)節(jié)坐標(biāo)相結(jié)合的框架式機械結(jié)構(gòu)形式，這種方式能夠提高系統(tǒng)的穩(wěn)定性和操作靈活性。傳動裝置的作用是將驅(qū)動元件的動力傳遞給機器人機械手相應(yīng)的執(zhí)行機構(gòu)，以實現(xiàn)各種必要的運動，傳動方式上采用結(jié)構(gòu)緊湊、傳動比大的蝸輪蝸桿傳動和將旋轉(zhuǎn)運動轉(zhuǎn)換為直線運動的螺旋傳動。機械手驅(qū)動系統(tǒng)的設(shè)計往往受到作業(yè)環(huán)境條件的限制，同時也要考慮價格因素的影響以及能夠達(dá)到的技術(shù)水平。由于步進電機能夠直接接收數(shù)字量，響應(yīng)速度快而且工作可靠并無累積誤差，常用作數(shù)字控制系統(tǒng)驅(qū)動機構(gòu)的動力元件，因此，在驅(qū)動裝置中采用由步進電機構(gòu)成的開環(huán)控制方式，這種方式既能滿足控制精度的要求，