外文翻譯--并聯(lián)機(jī)器人及其遠(yuǎn)程操作 原文.pdf

AparlerobticathmentaditsmnipulioLihuWang,FegfXib,DanZhgcaIntegratdManfctriTecholisIntiue,NationlResrcCounilfCand,80Colpir,Ldo,Otr6G48,adbDptmoAersaEngigRyerUivsity,Tont,OtriM5B2K3,acFaulyfEngiidAleScin,erfriIsuteofTchnolgy,Oshaw,taL1H7K,CadReciv7ctobr205；cptd25Novembr205-AbstracThiperdiscuesa3-dof(egrofredom)parlerobticatcmntatrmotmnipulatin.Thisatchmntisdigndasriodrviwrtymnlermt.Thethmetcnbemutedovrietyofmifoifrtaplics,ildigCNmilngmachs,dustrialbts,andCM.Javthosarusedtolparemomnipuliosytemforeprlebitment,iclgremtmonirgndct.Thmnfrcfhsytemfmhxstwb-asorintrt-asedmotsytemihwaytocrlthemotiftemacifrmaremi.Instadofusingamefrmnrig,thtpoismldug3Dcmptergrpicsitbhavolnrldemb.Comredwitcmera-bseslutins,etworktafislarglyredu,tymkngltimrmodvicmanipulonpctinthb.Ourplrocathmtsetyfrlekimaicmehaism(PKM).WiPKMemrgisaewayofbuldgflxlytemsrglemins,tsadvntgovrsilmehnismisopntd.206ElierL.Alghtrv.Keywods:KKKParlekinematicmahines；Stifnesmaping；Inverskinmatic；Rmotrl-mmipulto-1.ItrdutinPalekimaticmehanismhavesignficatdvantgesovrseialmechnism.Iprtiulr,teyporeumoimandigrtifns.Tsplmcismwrkthigrvloies,adyetmaintsfintrgdtydelivhiglevlsofacury.hisrrchersouniuosfortsfPKMdesign,lotl.Palemchasmgnalycmpristwoplatfrmstarenctdbyjitrleactiile1.Overthpastdecas,parlemchanismhavercivedmuchatniofrmrrhendiutrlprctions.Thyanbefudsevltilltos,idigrftimultors2,psittrackr3,scops4,anmcro-mtdevc5.Mrrecnly,haebnuedithevlpmentofhigprecisnmahitols6-8ymacompisuhasGins&Lw,Igrsl,Hex,GodticTya.Amogtr,exadmhitolntypfhesuesfullictns.Withtgrwingmatringdetralizton,signadfabrcofuctosfmosoialqupmemaufctres(OEM)avebditrbutedrphicy.Flwih,mnuftringpeanshavbenshiftdrpdlyfromitra-coptiotgloltworks.Howtkepalctivesundelisachliisue.Inuchaistrbutenrmt,ntrbltyndprectabltyfatryonrtwosialequimesforwb-sdorivemnfctrig.Ihiper,thscalgeisarthrugpralbtcatmentbyaplyinthltWenJavecnolis.Sie193sorlyafritsdebut,bsgidwidatcfordvlpigulicaos.Italyusbymanasmmtshreinfrmtn,kowleanbinedi9-1.Deotdeliztftdysmfactrg,web-sedolutinsavbcomhermritrutdolbativmnufactrigbcueftirplatfom,netoknmfdisrbudclabrtivemnufctrigbeusofthirplatorm,etwapegsytemansprcy,andeesy-urinterfthwbrosr.IdittWb,Jvtchnlogyhsbougautafndmtlhgeithwaythapliatardineddeply.WiJav,troserrdgmsemscmplingtoprducmnfactuinglictonvrthItrt.Ithisae,weirdaJav-bsmitongadorlaprcthmostesgretptealsuprtispedengirsinaclabrtivniomn.PwerbyJvwrito,uyerncp,urJav-bsdoachnlaglycthecomplxitdosttditlyacitditsoftredvlpmnmulihrwreptfrms.Aprlebtiatmtisntrceastesingvioytemvaidtn.Ths3-dof(egofrdom)acmtcanbcminwhmilgmcins,idustrialbts,rordiemsurigmahs(CM)toprvfnfrCorespndigauthor.Tel.:+159430784；fax:+15943079.E-mailres:liwangrc.ga(L.Wng).0736584/$-frtm26ElsevirLtd.Alrightsrevd.doi:1.0j.rcim205.102motincotrl.ThspaeprtsonewR&Dfindgsandisarngedasfolws.erilfhJav-bsemotricotlprcharersntdScti2.Thmcaismkiemisflobicatmen(tripod)revaldnStn3.Fortpureofsytmvaln,thprtripodiatchedagantytmrlightisg.IisusacseuyiStin4todmsrateJ-baedmontrignntrol.Fly,cluiondfurworksmmrizeStio5.2.Jv-bsenitigctl.1ConcptadproachTraditly,remtmnitrgandcotrlsolutinshavebnfolwngoapches:lsolybundewcmrsforvisuizt.WitmrceftheItrtaWeb,modmrecmesrkingmpligysfr-asesoltins.Althougacme-basdmotrndcontlsytmcnbprdIntrtwe-basedpliat,hebndwithcsevatiforkprvntitfrombegpractilasrl-timsoluti.Tagetinthrolm,wrosJv-eapochtcmbnisrdatithcmputhi.ItuilzsthelsJavteholiiclungJav3DandJaSerforsymimplemi,anowslietsomitrndctladitandcwtvisulhelpbdyJmol.Th3Dmoelisarliaoftysicalvicbingrerf-siteforvisuzto,ndtsbeirdrenrtlal-timsenrgnalsftphysiclupat.Oowadfromaplictser,e3Dmworksbhalfitscunteptsde,butmainsalivebycnetigheysicaldevithrouglow-vlmsrdatps.Inotrord,thybrslinsfrmetiguquirmtdmaigisingadteal-mconstritsovehItertare:(1)utercivscnraphbedJa3Dmlsinsdofbndwith-cosumngmeimgsfrf-sitisuaizto；(2)trsmitglyordatdcontlcommnbetwmelsaevcConrlefrmitrgndctr；(3)proidnlientswithapltfm-taspeaphilusinfcfago；ad(4)deyigmjorcntrolaseurlictsrvforrotti.Teglistoigfitlyedunektic,whilsilprvddurwhniviromt.Ihenmakera-timemonitrandctrlpractlhrtforusonllyswhok-ps.ThisJav-bsedmonitrgandcotrlaprochisuportedbyaWe-SopFlrfamwk12,shwnsmdleinhgrboxsinig.1Withtefrmwrk,temid-teractsvhadlmajrsecuryconsucaiorol,uerregitrio,nodatltion/istrbutin,deadicmnpul.ArlSesiMagedesgtlkftrhisfserautheticon,sictrol,iosynchroizn,adeitvdlog.AltltnsainsdtpastrugthSsonMrfaesauhrizt.Aaerv-iemdle,igalClectisrponiblefoseortcoltnfromnetwrkedphysialdvc.Tcltdtrhpastaohsvr-mouleSigalPuishrwintumltithesratttrstredbcies(cles)rougplet-slecmmnia.ARistradigdtomaintalistofubcriswtherqustenota.AphyscldevccntrlaolybConrlmmrtreiithsmapinserv.ThecptftheJav-bsedmonitrgandcotrlisdeigndtoustoulrclit-vrhiteuaVCM(viw-onrl-md)gpater.Ttrl-tirisaaplctisevrthaostmjrmnufctringconogc.Themode-rbehstodeat,kwlednd3Dmlformnitrgadcrl.AtlisideaJvapltusrinterac(itview-ti)provclntsithmodel-bsddseor-inrnmet.Imul-clenvirmt,ifrntclitsmayrquidifrntseofsordatfcemanpula.Itefctoh