畢業(yè)設(shè)計(jì)外文文獻(xiàn)翻譯

畢業(yè)設(shè)計(jì)(論文)外文資料翻譯系別：專業(yè)：班級(jí)：姓名：學(xué)號(hào)：外文出處：附件：1.原文；2.譯文2023年03月附件一：ARapidlyDeployableManipulatorSystemChristiaanJ.J.Paredis,H.BenjaminBrown,PradeepK.KhoslaAbstract:Arapidlydeployablemanipulatorsystemcombinestheflexibilityofreconfigurablemodularhardwarewithmodularprogrammingtools,allowingtheusertorapidlycreateamanipulatorwhichiscustom-tailoredforagiventask.Thisarticledescribestwomainaspectsofsuchasystem,namely,theReconfigurableModularManipulatorSystem(RMMS)hardwareandthecorrespondingcontrolsoftware.1IntroductionRobotmanipulatorscanbeeasilyreprogrammedtoperformdifferenttasks,yettherangeoftasksthatcanbeperformedbyamanipulatorislimitedbymechanicalstructure.Forexample,amanipulatorwell-suitedforprecisemovementacrossthetopofatablewouldprobablynobecapableofliftingheavyobjectsintheverticaldirection.Therefore,toperformagiventask,oneneedstochooseamanipulatorwithanappropriatemechanicalstructure.Weproposetheconceptofarapidlydeployablemanipulatorsystemtoaddresstheabovementionedshortcomingsoffixedconfigurationmanipulators.AsisillustratedinFigure1,arapidlydeployablemanipulatorsystemconsistsofsoftwareandhardwarethatallowtheusertorapidlybuildandprogramamanipulatorwhichiscustomtailoredforagiventask.ThecentralbuildingblockofarapidlydeployablesystemisaReconfigurableModularManipulatorSystem(RMMS).TheRMMSutilizesastockofinterchangeablelinkandjointmodulesofvarioussizesandperformancespecifications.OnesuchmoduleisshowninFigure2.Bycombiningthesegeneralpurposemodules,awiderangeofspecialpurposemanipulatorscanbeassembled.Recently,therehasbeenconsiderableinterestintheideaofmodularmanipulators[2,4,5,7,9,10,14],forresearchapplicationsaswellasforindustrialapplications.However,mostofthesesystemslackthepropertyofreconfigurability,whichiskeytotheconceptofrapidlydeployablesystems.TheRMMSisparticularlyeasytoreconfigurethankstoitsintegratedquick-couplingconnectorsdescribedinSection3.EffectiveuseoftheRMMSrequires,TaskBasedDesignsoftware.Thissoftwaretakesasinputdescriptionsofthetaskandoftheavailablemanipulatormodules;itgeneratesasoutputamodularassemblyconfigurationoptimallysuitedtoperformthegiventask.Severaldifferentapproacheshavebeenusedsuccessfullytosolvesimpli-fiedinstancesofthiscomplicatedproblem.Athirdimportantbuildingblockofarapidlydeployablemanipulatorsystemisaframeworkforthegenerationofcontrolsoftware.Toreducethecomplexityofsoftwaregenerationforreal-timesensor-basedcontrolsystems,asoftwareparadigmcalledsoftwareassemblyhasbeenproposedintheAdvancedManipulatorsLaboratoryatCMU.Thisparadigmcombinestheconceptofreusableandreconfigurablesoftwarecomponents,asissupportedbytheChimerareal-timeoperatingsystem[15],withagraphicaluserinterfaceandavisualprogramminglanguage,implementedinOnikaAlthoughthesoftwareassemblyparadigmprovidesthesoftwareinfrastructureforrapidlyprogrammingmanipulatorsystems,itdoesnotsolvetheprogrammingproblemitself.Explicitprogrammingofsensor-basedmanipulatorsystemsiscumbersomeduetotheextensiveamountofdetailwhichmustbespecifiedfortherobottoperformthetask.Thesoftwaresynthesisproblemforsensor-basedrobotscanbesimplifieddramatically,byprovidingrobustroboticskills,thatis,encapsulatedstrategiesforaccomplishingcommontasksintherobotstaskdomain[11].Suchroboticskillscanthenbeusedatthetasklevelplanningstagewithouthavingtoconsideranyofthelow-leveldetailsAsanexampleoftheuseofarapidlydeployablesystem,consideramanipulatorinanuclearenvironmentwhereitmustinspectmaterialandspaceforradioactivecontamination,orassembleandrepairequipment.Insuchanenvironment,widelyvariedkinematic(e.g.,workspace)anddynamic(e.g.,speed,payload)performanceisrequired,andtheserequirementsmaynotbeknownapriori.Insteadofpreparingalargesetofdifferentmanipulatorstoaccomplishthesetasks—anexpensivesolution—onecanusearapidlydeployablemanipulatorsystem.Considerthefollowingscenario:assoonasaspecifictaskisidentified,thetaskbaseddesignsoftwaredeterminesthetask.ThisoptimalconfigurationisthenassembledfromtheRMMSmodulesbyahumanor,inthefuture,possiblybyanothermanipulator.Theresultingmanipulatorisrapidlyprogrammedbyusingthesoftwareassemblyparadigmandourlibraryofroboticskills.Finally,themanipulatorisdeployedtoperformitstask.Althoughsuchascenarioisstillfuturistic,thedevelopmentofthereconfigurablemodularmanipulatorsystem,describedinthispaper,isamajorstepforwardtowardsourgoalofarapidlydeployablemanipulatorsystem.Ourapproachcouldformthebasisforthenextgenerationofautonomousmanipulators,inwhichthetraditionalnotionofsensor-basedautonomyisextendedtoconfiguration-basedautonomy.Indeed,althoughadeployedsystemcanhaveallthesensoryandplanninginformationitneeds,itmaystillnotbeabletoaccomplishitstaskbecausethetaskisbeyondthesystem’sphysicalcapabilities.Arapidlydeployablesystem,ontheotherhand,couldadaptitsphysicalcapabilitiesbasedontaskspecificationsand,withadvancedsensing,control,andplanningstrategies,accomplishthetaskautonomously.2Designofself-containedhardwaremodulesInmostindustrialmanipulators,thecontrollerisaseparateunithousingthesensorinterfaces,poweramplifiers,andcontrolprocessorsforallthejointsofthemanipulator.Alargenumberofwiresisnecessarytoconnectthiscontrolunitwiththesensors,actuatorsandbrakeslocatedineachofthejointsofthemanipulator.Thelargenumberofelectricalconnectionsandthenon-extensiblenatureofsuchasystemlayoutmakeitinfeasibleformodularmanipulators.Thesolutionweproposeistodistributethecontrolhardwaretoeachindividualmoduleofthemanipulator.Thesemodulesthenbecomeself-containedunitswhichincludesensors,anactuator,abrake,atransmission,asensorinterface,amotoramplifier,andacommunicationinterface,asisillustratedinFigure3.Asaresult,onlysixwiresarerequiredforpowerdistributionanddatacommunication.2.1MechanicaldesignThegoaloftheRMMSprojectistohaveawidevarietyofhardwaremodulesavailable.Sofar,wehavebuiltfourkindsofmodules:themanipulatorbase,alinkmodule,threepivotjointmodules(oneofwhichisshowninFigure2),andonerotatejointmodule.Thebasemoduleandthelinkmodulehavenodegrees-of-freedom;thejointmoduleshaveonedegree-of-freedomeach.ThemechanicaldesignofthejointmodulescompactlyfitsaDC-motor,afail-safebrake,atachometer,aharmonicdriveandaresolver.Thepivotandrotatejointmodulesusedifferentoutsidehousingstoprovidetheright-angleorin-lineconfigurationrespectively,butareidenticalinternally.Figure4showsincross-sectiontheinternalstructureofapivotjoint.EachjointmoduleincludesaDCtorquemotorand100:1harmonic-drivespeedreducer,andisratedatamaximumspeedof1.5rad/sandmaximumtorqueof270Nm.Eachmodulehasamassofapproximately10.7kg.Asingle,compact,X-typebearingconnectsthetwojointhalvesandprovidestheneededoverturningrigidity.Ahollowmotorshaftpassesthroughalltherotarycomponents,andprovidesachannelforpassageofcablingwithminimalflexing.2.2ElectronicdesignThecustom-designedon-boardelectronicsarealsodesignedaccordingtotheprincipleofmodularity.EachRMMSmodulecontainsamotherboardwhichprovidesthebasicfunctionalityandontowhichdaughtercardscanbestackedtoaddmodulespecificfunctionality.ThemotherboardconsistsofaSiemens80C166microcontroller,64KofROM,64KofRAM,anSMCCOM20230universallocalareanetworkcontrollerwithanRS-485driver,andanRS-232driver.ThefunctionofthemotherboardistoestablishcommunicationwiththehostinterfaceviaanRS-485busandtoperformthelowlevelcontrolofthemodule,asisexplainedinmoredetailinSection4.TheRS-232serialbusdriverallowsforsimplediagnosticsandsoftwareprototyping.Astackingconnectorpermitstheadditionofanindefinitenumberofdaughtercardswithvariousfunctions,suchassensorinterfaces,motorcontrollers,RAMexpansionetc.Inourcurrentimplementation,onlymoduleswithactuatorsincludeadaughtercard.Thiscardcontainsa16bitresolvertodigitalconverter,a12bitA/Dconvertertointerfacewiththetachometer,anda12bitD/Aconvertertocontrolthemotoramplifier;wehaveusedanofthe-shelfmotoramplifier(GalilMotionControlmodelSSA-8/80)todrivetheDC-motor.Formoduleswithmorethanonedegree-of-freedom,forinstanceawristmodule,morethanonesuchdaughtercardcanbestackedontothesamemotherboard.3Integratedquick-couplingconnectorsTomakeamodularmanipulatorbereconfigurable,itisnecessarythatthemodulescanbeeasilyconnectedwitheachother.Wehavedevelopedaquick-couplingmechanismwithwhichasecuremechanicalconnectionbetweenmodulescanbeachievedbysimplyturningaringhandtight;notoolsarerequired.AsshowninFigure5,keyedflangesprovidepreciseregistrationofthetwomodules.Turningofthelockingcollaronthemaleendproducestwodistinctmotions:firstthefingersofthelockingringrotate(withthecollar)about22.5degreesandcapturethefingersontheflanges;second,thecollarrotatesrelativetothelockingring,whileacammechanismforcesthefingersinwardtosecurelygripthematingflanges.Aball-transfermechanismbetweenthecollarandlockingringautomaticallyproducesthissequenceofmotions.Atthesametimethemechanicalconnectionismade,pneumaticandelectronicconnectionsarealsoestablished.Insidethelockingringisamodularconnectorthathas30maleelectricalpinsplusapneumaticcouplerinthemiddle.Thesecorrespondtomatchingfemalecomponentsonthematingconnector.Setsofpinsarewiredinparalleltocarrythe72V-25Apowerformotorsandbrakes,and48V–6Apowerfortheelectronics.AdditionalpinscarrysignalsfortwoRS-485serialcommunicationbussesandfourvideobusses.Aplasticguidecollarplussixalignmentpinspreventdamagetotheconnectorpinsandassureproperalignment.Theplasticblockholdingthefemalepinscanrotateinthehousingtoaccommodatetheeightdifferentpossibleconnectionorientations(8@45degrees).TherelativeorientationisautomaticallyregisteredbymeansofaninfraredLEDinthefemaleconnectorandeightphotodetectorsinthemaleconnector.4ARMbuscommunicationsystemEachofthemodulesoftheRMMScommunicateswithaVME-basedhostinterfaceoveralocalareanetworkcalledtheARMbus;eachmoduleisanodeofthenetwork.ThecommunicationisdoneinaserialfashionoveranRS-485buswhichrunsthroughthelengthofthemanipulator.WeusetheARCNETprotocol[1]implementedonadedicatedIC(SMCCOM20230).ARCNETisadeterministictoken-passingnetworkschemewhichavoidsnetworkcollisionsandguaranteeseachnodeitstimetoaccessthenetwork.Blocksofinformationcalledpacketsmaybesentfromanynodeonthenetworktoanyoneoftheothernodes,ortoallnodessimultaneously(broadcast).Eachnodemaysendonepacketeachtimeitgetsthetoken.Themaximumnetworkthroughputis5Mb/s.Thefirstnodeofthenetworkresidesonthehostinterfacecard,asisdepictedinFigure6.InadditiontoaVMEaddressdecoder,thiscardcontainsessentiallythesamehardwareonecanfindonamodulemotherboard.ThecommunicationbetweentheVMEsideofthecardandtheARCNETsideoccursthroughdual-portRAM.Therearetwokindsofdatapassedoverthelocalareanetwork.Duringthemanipulatorinitializationphase,themodulesconnecttothenetworkonebyone,startingatthebaseandendingattheend-effector.Onjoiningthenetwork,eachmodulesendsadata-packettothehostinterfacecontainingitsserialnumberanditsrelativeorientationwithrespecttothepreviousmodule.Thisinformationallowsustoautomaticallydeterminethecurrentmanipulatorconfiguration.Duringtheoperationphase,thehostinterfacecommunicateswitheachofthenodesat400Hz.Thedatathatisexchangeddependsonthecontrolmode—centralizedordistributed.Incentralizedcontrolmode,thetorquesforallthejointsarecomputedontheVME-basedreal-timeprocessingunit(RTPU),assembledintoadata-packetbythemicrocontrolleronthehostinterfacecardandbroadcastovertheARMbustoallthenodesofthenetwork.Eachnodeextractsitstorquevaluefromthepacketandrepliesbysendingadata-packetcontainingtheresolverandtachometerreadings.Indistributedcontrolmode,ontheotherhand,thehostcomputerbroadcaststhedesiredjointvaluesandfeed-forwardtorques.Locally,ineachmodule,thecontrolloopcanthenbeclosedatafrequencymuchhigherthan400Hz.Themodulesstillsendsensorreadingsbacktothehostinterfacetobeusedinthecomputationofthesubsequentfeed-forwardtorque.5ModularandreconfigurablecontrolsoftwareThecontrolsoftwarefortheRMMShasbeendevelopedusingtheChimerareal-timeoperatingsystem,whichsupportsreconfigurableandreusablesoftwarecomponents[15].ThesoftwarecomponentsusedtocontroltheRMMSarelistedinTable1.Thetrjjline,dls,andgrav_compcomponentsrequiretheknowledgeofcertainconfigurationdependentparametersoftheRMMS,suchasthenumberofdegrees-of-freedom,theDenavit-Hartenbergparametersetc.Duringtheinitializationphase,theRMMSinterfaceestablishescontactwitheachofthehardwaremodulestodetermineautomaticallywhichmodulesarebeingusedandinwhichorderandorientationtheyhavebeenassembled.Foreachmodule,adatafilewithaparametricmodelisread.Bycombiningthisinformationforallthemodules,kinematicanddynamicmodelsoftheentiremanipulatorarebuilt.Aftertheinitialization,thermmssoftwarecomponentoperatesinadistributedcontrolmodeinwhichthemicrocontrollersofeachoftheRMMSmodulesperformPIDcontrollocallyat1900Hz.Thecommunicationbetweenthemodulesandthehostinterfaceisat400Hz,whichcandifferfromthecyclefrequencyofthermmssoftwarecomponent.Sinceweuseatriplebuffermechanism[16]forthecommunicationthroughthedual-portRAMontheARMbushostinterface,nosynchronizationorhandshakingisnecessary.BecauseclosedforminversekinematicsdonotexistforallpossibleRMMSconfigurations,weuseadampedleast-squareskinematiccontrollertodotheinversekinematicscomputationnumerically..6SeamlessintegrationofsimulationToassisttheuserinevaluatingwhetheranRMMScon-figurationcansuccessfullycompleteagiventask,wehavebuiltasimulator.ThesimulatorisbasedontheTeleGriprobotsimulationsoftwarefromDenebInc.,andrunsonanSGICrimsonwhichisconnectedwiththereal-timeprocessingunitthroughaBit3VME-to-VMEadaptor,asisshowninFigure6.AgraphicaluserinterfaceallowstheusertoassemblesimulatedRMMSconfigurationsverymuchlikeassemblingtherealhardware.CompletedconfigurationscanbetestedandprogrammedusingtheTeleGripfunctionsforrobotdevices.TheconfigurationscanalsobeinterfacedwiththeChimerareal-timesoftwarerunningonthesameRTPUsusedtocontroltheactualhardware.Asaresult,itispossibletoevaluatenotonlythemovementsofthemanipulatorbutalsotherealtimeCPUusageandloadbalancing.Figure7showsanRMMSsimulationcomparedwiththeactualtaskexecution.7SummaryWehavedevelopedaReconfigurableModularManipulatorSystemwhichcurrentlyconsistsofsixhardwaremodules,withatotaloffourdegrees-of-freedom.Thesemodulescanbeassembledinalargenumberofdifferentconfigurationstotailorthekinematicanddynamicpropertiesofthemanipulatortothetaskathand.ThecontrolsoftwarefortheRMMSautomaticallyadaptstotheassemblyconfigurationbybuildingkinematicanddynamicmodelsofthemanipulator;thisistotallytransparenttotheuser.Toassisttheuserinevaluatingwhetheramanipulatorconfigurationiswellsuitedforagiventask,wehavealsobuiltasimulator.AcknowledgmentThisresearchwasfundedinpartbyDOEundergrantDE-F902-89ER14042,bySandiaNationalLaboratoriesundercontractAL-3020,bytheDepartmentofElectricalandComputerEngineering,andbyTheRoboticsInstitute,CarnegieTheauthorswouldalsoliketothankRandyCasciola,MarkDeLouis,EricHoffman,andJimMoodyfortheirvaluablecontributionstothedesignoftheRMMSsystem.附件二：可迅速布置的機(jī)械手系統(tǒng)作者：ChristiaanJ.J.Paredis,H.BenjaminBrown,PradeepK.Khosla摘要：一個(gè)迅速可部署的機(jī)械手系統(tǒng)，可以使再組合的標(biāo)準(zhǔn)化的硬件的靈活性用標(biāo)準(zhǔn)化的編程工具結(jié)合，允許用戶迅速建立為一項(xiàng)規(guī)定的任務(wù)來通常地控制機(jī)械手。這篇文章描述這樣的一個(gè)系統(tǒng)的兩個(gè)重要方面，即，再組合的標(biāo)準(zhǔn)化的機(jī)械手系統(tǒng)(RMMS)硬件和相應(yīng)控制軟件。1介紹機(jī)器人操縱裝置也許容易被程序重調(diào)執(zhí)行不同的任務(wù)，然而一個(gè)機(jī)械手可以執(zhí)行的任務(wù)的范圍已經(jīng)被它的機(jī)械結(jié)構(gòu)限制。例如，一個(gè)很適合準(zhǔn)確的運(yùn)動(dòng)的機(jī)械手在一張桌子上部或許將不能朝著垂直的方向舉起重物。因此，執(zhí)行規(guī)定的任務(wù)，需要有一個(gè)合適的機(jī)械結(jié)構(gòu)來選擇機(jī)械手。我們建議一個(gè)迅速可部署的機(jī)械手系統(tǒng)的概念來解決固定構(gòu)造的機(jī)械手的上述的缺陷。一迅速可部署機(jī)械手系統(tǒng)由迅速建造的軟件和硬件組成，是適合一規(guī)定任務(wù)的一個(gè)機(jī)械手。一個(gè)迅速可部署的系統(tǒng)的中心的組成部分是一個(gè)再組合的標(biāo)準(zhǔn)化的機(jī)械手系統(tǒng)(RMMS)。RMMS運(yùn)用一可互換的連接的和各種尺寸和性能的共同模件。通過結(jié)合這些多功能的模件，大范圍專用機(jī)械手可以被收集。最近，有相稱多的對(duì)機(jī)械手標(biāo)準(zhǔn)化的想法的愛好。但是，對(duì)于研究應(yīng)用以及為工業(yè)應(yīng)用來說，大多數(shù)這些系統(tǒng)缺少的必要的能力，這是迅速可部署的體制的概念的關(guān)鍵。有效的使用RMMS需要基于任務(wù)的設(shè)計(jì)軟件。這軟件認(rèn)為是任務(wù)和可得到的操縱者模件的輸入描述；作為一標(biāo)準(zhǔn)化會(huì)議構(gòu)造最佳適合執(zhí)行規(guī)定任務(wù)的業(yè)務(wù)的產(chǎn)量產(chǎn)生。幾種不同的方法已經(jīng)被成功使用解決這個(gè)錯(cuò)綜復(fù)雜的問題的。一個(gè)迅速可部署的機(jī)械手系統(tǒng)的第3個(gè)重要的組成部分是控制軟件的代的一種框架。為實(shí)時(shí)基于傳感器的控制系統(tǒng)減少軟件生成的復(fù)雜性，一個(gè)軟件范例叫軟件為會(huì)議已經(jīng)在CMU先進(jìn)的操縱者實(shí)驗(yàn)室里被提出。這個(gè)范例結(jié)合可反復(fù)使用和再組合的軟件成分的概念，象妄想實(shí)時(shí)操作系統(tǒng)支持的那樣,用一個(gè)圖形用戶界面和可視程序設(shè)計(jì)語言而實(shí)行.雖然軟件會(huì)議范例提供迅速編程操縱者系統(tǒng)的軟件基礎(chǔ)設(shè)施，但是它不解決編程問題。基于傳感器的機(jī)械手系統(tǒng)的明確編程由于必須被為機(jī)器人指定執(zhí)行任務(wù)的廣大數(shù)量的細(xì)節(jié)是麻煩的?；趥鞲衅鞯臋C(jī)器人的軟件綜合問題可以被簡化，通過提供堅(jiān)固的機(jī)器人技能，即，為在機(jī)器人任務(wù)域完畢普通任務(wù)封裝策略.這樣機(jī)器人技能能在而不需要考慮任何低檔的細(xì)節(jié)的任務(wù)步計(jì)劃階段使用。作為使用一個(gè)迅速可部署的系統(tǒng)的例子，在一種核環(huán)境里，在那里它必須檢查材料和放射性污染的空間，或者集合和修理設(shè)備考慮一個(gè)操縱者。在這樣的一種環(huán)境里，廣泛改變的動(dòng)態(tài)的(例如，工作區(qū))和動(dòng)態(tài)的(例如，速度，凈載重量)性能被規(guī)定，并且這些規(guī)定也許不被知道priori。不得不準(zhǔn)備大套要完畢這幾次任務(wù)的不同操縱者一昂貴解決辦法一使用迅速可部署操縱者系統(tǒng)能?？紤]下列腳本：一項(xiàng)具體的任務(wù)一被鑒定，基于任務(wù)的設(shè)計(jì)軟件就使最佳的標(biāo)準(zhǔn)化的會(huì)議構(gòu)造下決心進(jìn)行任務(wù)。人們?nèi)缓髲腞MMS模件裝配這個(gè)最佳的構(gòu)造或者，將來，也許到另一個(gè)操縱者。導(dǎo)致的操縱者被迅速通過使用軟件裝配范例和我們的機(jī)器人技能的信息庫編程序。最后，操縱者被有效地使用執(zhí)行它的任務(wù)。雖然這樣的腳本仍然是未來的，再組合的標(biāo)準(zhǔn)化的操縱者系統(tǒng)的發(fā)展，在這篇文章里描述，是向我們的一個(gè)迅速可部署的機(jī)械手系統(tǒng)的目的的一個(gè)向前的重要的臺(tái)階。我們的方法能為自治機(jī)械手的下一代形成基礎(chǔ)，其中基于傳感器的自治權(quán)的傳統(tǒng)的觀念被給予基于構(gòu)造的自治權(quán)。的確，雖然一個(gè)部署的系統(tǒng)能有它需要的所有感覺并且計(jì)劃的信息，它也許仍然不能完畢它的任務(wù)，由于任務(wù)是在系統(tǒng)的物理能力以外。一個(gè)迅速可部署的系統(tǒng)，另一方面，能改編它的基于任務(wù)說明的物理能力和帶有先進(jìn)的感覺，控制，以及計(jì)劃策略，自動(dòng)完畢任務(wù)。2硬件模塊的2種設(shè)計(jì)在通常工業(yè)機(jī)械手里，那些控制器單獨(dú)接在那些傳感器接口，功率放大器，并且因機(jī)械手所有關(guān)節(jié)那些機(jī)械手而控制解決器。許多電線連接這個(gè)控制單位和傳感器，位于機(jī)械手的每個(gè)關(guān)節(jié)的作動(dòng)器和剎車是必要的。大量電氣裝線和這樣的一次系統(tǒng)平面布置的非可擴(kuò)展性，為標(biāo)準(zhǔn)化的機(jī)械手使它不能實(shí)行。我們提出的這個(gè)解決辦法是將控制硬件分派給操縱者的每個(gè)個(gè)別的模件。涉及傳感器的這些模件然后成為整裝組件，作動(dòng)器，一個(gè)剎車，一次輸送，一個(gè)傳感器接口，一個(gè)電動(dòng)機(jī)放大器和一個(gè)通信接口。2.1機(jī)械設(shè)計(jì)RMMS工程的目的是有可提供的多種硬件模塊。迄今，我們已經(jīng)建造4種模件：操縱者基礎(chǔ)，一連接模塊，樞共同模件(一在身材顯示)，并且一旋轉(zhuǎn)共同模件。底部模件和連接模塊沒有自由度；共同模件各自有一自由度。共同模件的機(jī)械設(shè)計(jì)緊密適合一臺(tái)直流電動(dòng)機(jī)，一個(gè)有自動(dòng)防故障設(shè)備的剎車，一臺(tái)轉(zhuǎn)速表，諧波運(yùn)動(dòng)。那些樞和旋轉(zhuǎn)共同模件在外部使用提供那些直角不同或者成隊(duì)構(gòu)造分別，但是相同內(nèi)部，在典型地方顯示一共同的樞的內(nèi)部結(jié)構(gòu)。每個(gè)共同模件涉及一臺(tái)直流力矩電動(dòng)機(jī)和100：1的諧波駕駛速度減壓器，并且被在1.5rad/s和270納米的最高轉(zhuǎn)矩的最高速度下。不是每個(gè)模件都有塊大約10.7公斤一單個(gè)，小型，耐壓的X類型提供需要的剛性連結(jié)并且相連在一起。一根空的電動(dòng)機(jī)軸通過所有旋轉(zhuǎn)的零部件，并且為最小的屈曲電信號(hào)的傳送提供一條通道。2.2電子設(shè)計(jì)通俗設(shè)計(jì)的艙中的電子也被根據(jù)的原則設(shè)計(jì)。每個(gè)RMMS模件包含主板，提供基本的功能性和可以被堆積增長模件具體的功能性。主板由西門子80C166組成，64KROM，RAM，一SMCCOM20230的64K有一臺(tái)RS-485驅(qū)動(dòng)器和一臺(tái)RS-232驅(qū)動(dòng)器的普遍的局部地區(qū)網(wǎng)絡(luò)控制器。主板的功能是通過一種RS-485公共系統(tǒng)建立與主接口的聯(lián)系和進(jìn)行程序控制模件，象在第4部分被更具體解釋的那樣。RS-232連續(xù)的公共汽車司機(jī)考慮到單純的診斷和軟件原型法。一個(gè)堆積的連接器有各種各樣的功能允許模糊的數(shù)量的增長，例如傳感器接口，電動(dòng)機(jī)控制器，RAM擴(kuò)大器等等，在我們的當(dāng)今的實(shí)行里，只是有作動(dòng)器的模件涉及daughtercard。這張卡片到數(shù)字化的變換器包含一16位resolver，要與轉(zhuǎn)速表和一臺(tái)12位D/A變換器接口控制電動(dòng)機(jī)放大器的一臺(tái)12位模數(shù)轉(zhuǎn)換器；我們已經(jīng)使用一個(gè)ofthe架子電動(dòng)機(jī)放大器(Galil運(yùn)動(dòng)控制模型SSA8/80)驅(qū)動(dòng)直流電動(dòng)機(jī)。對(duì)有超過一自由度，例如一個(gè)腕模件的模件來說，不止一這樣的daughtercard可以被堆積到相同的主板上。3綜合連合的連接器為了使一個(gè)標(biāo)準(zhǔn)化的機(jī)械手再組合，模件也許容易被彼此連結(jié)是必要的。我們已經(jīng)發(fā)展一個(gè)迅速連合的機(jī)制，在模件之間的一個(gè)安全的機(jī)械連接可以通過僅僅轉(zhuǎn)動(dòng)一枚handtight被取得；沒有工具被規(guī)定。調(diào)整凸緣提供兩個(gè)模件的準(zhǔn)確的連接。鎖住的手腕的轉(zhuǎn)動(dòng)在末端上產(chǎn)生兩種不同的動(dòng)作：一方面，鎖住的手指大約22.5限度和捕獲輪流(與手腕一起)手指在凸緣上運(yùn)動(dòng)；另一方面，那些手腕相對(duì)于鎖住的手指，而凸輪機(jī)制逼迫那些內(nèi)在的手指在可靠緊握輪子的凸緣運(yùn)動(dòng)。在領(lǐng)和鎖住的手指之間的轉(zhuǎn)動(dòng)機(jī)構(gòu)自動(dòng)生產(chǎn)這個(gè)運(yùn)動(dòng)順序。同時(shí)機(jī)械連接被做成為裝滿和電子的連接。在每鎖住的指里面有30電別針以上一裝滿電子偶合器在中間的一標(biāo)準(zhǔn)化連接器是。這些符合匹配鋪席子的連接器上的凹形零部件。別針被電報(bào)告知在方面與平行那些72V－25A去電動(dòng)機(jī)和剎車和去那些電子的權(quán)力48V－6A的權(quán)力。4ARMbus通信系統(tǒng)RMMS的每個(gè)模件在一個(gè)稱為ARMbus的局域網(wǎng)上方與一個(gè)基于VME的主接口聯(lián)系；每個(gè)模件都是一個(gè)網(wǎng)絡(luò)的節(jié)點(diǎn)。通訊被在機(jī)械手的長度的一輛RS-485公共汽車上方用連續(xù)方式做。我們使用ARCNET協(xié)議[1]在一奉獻(xiàn)的IC(SMCCOM20230)上實(shí)現(xiàn)。ARCNET是避免網(wǎng)絡(luò)沖突并且在訪問網(wǎng)絡(luò)的它的時(shí)間保證每個(gè)節(jié)點(diǎn)的一個(gè)決定性的權(quán)標(biāo)傳遞網(wǎng)絡(luò)計(jì)劃。稱為包的信息的塊也許被在網(wǎng)絡(luò)上從任何節(jié)點(diǎn)送給其它節(jié)點(diǎn)中的任何一個(gè)，或者對(duì)所有節(jié)點(diǎn)同時(shí)(廣播)。每當(dāng)它得到標(biāo)志的時(shí)候，每個(gè)節(jié)點(diǎn)可以送一包。網(wǎng)絡(luò)的第一個(gè)節(jié)點(diǎn)保存在主接口卡，象被用圖6描繪的那樣。除一VME地址譯碼器之外，這卡片包含基本上相同的硬件一能在模件主板上發(fā)現(xiàn)。在這張卡上的VME和ARCNET之間的聯(lián)系邊是通過雙口RAM發(fā)生的。有兩種數(shù)據(jù)通過局域網(wǎng)。在機(jī)械手預(yù)置階段期間，模件一個(gè)接一個(gè)連接網(wǎng)絡(luò)，在基礎(chǔ)啟動(dòng)并且結(jié)束最后effector。關(guān)于參與網(wǎng)絡(luò)，每模件寄一數(shù)據(jù)包給包含它的順序號(hào)和它的與以前的艙有關(guān)的有關(guān)的結(jié)識(shí)新環(huán)境的主機(jī)接口。這信息允許我們自動(dòng)擬定當(dāng)今的機(jī)械手構(gòu)造。在運(yùn)營階段，主接口以400赫茲與每個(gè)節(jié)點(diǎn)聯(lián)系。被互換的數(shù)據(jù)取決于控制模式集中或者被分派。用集中的控制模式，所有關(guān)節(jié)的力矩被在基于VME的實(shí)時(shí)工藝設(shè)備(RTPU)上計(jì)算，進(jìn)一數(shù)據(jù)包以microcontroller集合在主接口卡上和越過ARMbus隨著的所有網(wǎng)絡(luò)的節(jié)點(diǎn)。每個(gè)節(jié)點(diǎn)從包中抽出它的力矩價(jià)值并且通過使數(shù)據(jù)包包含resolver和轉(zhuǎn)速表讀數(shù)回答。用分派的控制模式，另一方面，主機(jī)播送被盼望的共同價(jià)值和前饋力矩。本地，在每個(gè)模件里，控制環(huán)然后能被在比400赫茲高得多的頻率關(guān)閉模件仍然把傳感器讀數(shù)回寄給主聯(lián)接于被在隨后的前饋力矩的計(jì)算內(nèi)使用。5標(biāo)準(zhǔn)化和再組合的控制軟件控制軟件給RMMS發(fā)展使用妄想實(shí)時(shí)操作系統(tǒng)，支持再組合和可反復(fù)使用的軟件成分[15].用來控制RMMS的軟件成分被列舉。主題組成部分需要一定構(gòu)造RMMS的依靠的參數(shù)知識(shí)，在預(yù)置階段期間，RMMS接口建立與每個(gè)硬件模塊的關(guān)系自動(dòng)擬定哪個(gè)模件正被使用，并且他們的命令和定向收集。對(duì)每個(gè)模件來說，一個(gè)數(shù)據(jù)提交給一個(gè)參數(shù)模型被讀。通過結(jié)合這所有模件的信息，整個(gè)操縱者的動(dòng)態(tài)和動(dòng)態(tài)的模型被建造。在預(yù)置之后，rmms軟件成分在一內(nèi)經(jīng)營分派的在哪個(gè)每RMMS模件的執(zhí)行PID的控制模式控制本地在1900赫茲。在模件和主機(jī)接口之間的聯(lián)系以400赫茲，這能不同于rmms軟件成分的循環(huán)頻率。自從我們使用一個(gè)三倍的緩沖區(qū)機(jī)制[16]對(duì)于通訊來說通過雙口RAM在ARMbus主接口上，沒有同步或者握手是必要的。由于關(guān)閉形式倒轉(zhuǎn)的運(yùn)動(dòng)學(xué)不為所有也許的RMMS構(gòu)造存在，我們用一個(gè)最小平方動(dòng)態(tài)的控制做倒轉(zhuǎn)的運(yùn)動(dòng)學(xué)計(jì)算。6綜合模擬為了幫助用戶評(píng)價(jià)是否一RMMS記誦外形能成功完畢一項(xiàng)規(guī)定的任務(wù)，我們已經(jīng)建造一個(gè)模擬器。模擬器基于來自Deneb股份有限公司的TeleGrip機(jī)器人模擬軟件，在哪個(gè)是與有關(guān)系實(shí)時(shí)工藝設(shè)備通過一Bit3VME對(duì)VME的改編者，象被在圖6顯示的那樣的一SGI深紅色上運(yùn)營。一個(gè)圖形用戶界面允許用戶集合模擬的RMMS構(gòu)造太喜歡集合真正的硬件。完畢構(gòu)造可以測(cè)試并且編程序使用TeleGrip對(duì)機(jī)器人設(shè)備起作用。構(gòu)造也能被與涉及相同的RTPUs的實(shí)時(shí)軟件用來控制實(shí)際硬件的妄想接口。因此，評(píng)價(jià)不僅操縱者的運(yùn)動(dòng)是也許的，并且實(shí)時(shí)的CPU用法和負(fù)載平衡。與實(shí)際任務(wù)實(shí)行相比較，顯示一次RMMS模擬。7結(jié)束語我們已經(jīng)發(fā)展目前由6個(gè)硬件模塊組成，帶有共4自由度的一個(gè)再組合的標(biāo)準(zhǔn)化的機(jī)械手系統(tǒng)。這些模件可以在許多不同的構(gòu)造里裝配。把機(jī)械手的靜態(tài)和動(dòng)態(tài)的特性調(diào)整到任務(wù)。RMMS的控制軟件通過建造機(jī)械手的動(dòng)態(tài)和動(dòng)態(tài)的模型自動(dòng)適應(yīng)會(huì)議構(gòu)造；這對(duì)用戶所有透明。為了幫助用戶評(píng)價(jià)是否一個(gè)機(jī)械手構(gòu)造很適合一項(xiàng)規(guī)定的任務(wù)，我們也已經(jīng)建造一個(gè)模擬器了，外文出處：《Manufacturing

Engineering

and

Technology—Machining》附件1：外文原文

ManipulatorRobot

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

manipulatorRobot

is

a

kind

of

positioning

control

can

be

automated

and

can

be

re-programmed

to

change

in

multi-functional

machine,

which

has

multiple

degrees

of

freedom

can

be

used

to

carry

an

object

in

order

to

complete

the

work

in

different

environments.

Low

wages

in

China,

plastic

products

industry,

although

still

a

labor-intensive,

mechanical

hand

use

has

become

increasingly

popular.

Electronics

and

automotive

industries

that

Europe

and

the

United

States

multinational

companies

very

early

in

their

factories

in

China,

the

introduction

of

automated

production.

But

now

the

changes

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

require

recycling

and

disposal,

do

not

pollute

the

environment.

(Concept

of

environmental

protection)

2.

Air

stick

is

small,

the

pipeline

pressure

loss

is

small

(typically

less

than

asphalt

gas

path

pressure

drop

of

one-thousandth),

to

facilitate

long-distance

transport.

3.

Compressed

air

of

the

working

pressure

is

low

(usually

4

to

8

kg

/

per

square

centimeter),

and

therefore

moving

the

material

components

and

manufacturi