火箭模型组合件造型及数控加工机械数控课程设计()论文(说明书)-大学论文

1、右吻教育宁波大红鹰学院毕业设计（论文）外文翻译所在学院：机电学院班 级：姓 名：学 号：指导教师：合作导师：原文:题目 Robots mecha ni cal and con trol systems1、the general structure of the robot handA robot hand can be divided into two main subsystems: mecha ni cal systems and con trol systems.Mechanical systems can be divided into structural design, drive

2、 systems and sensor systems, we will further introduce in the third part. In the fourth sect ion describes the con trol system at least by the con trol hardware and con trol software.These two subsystems we will make some basic in troductio n to the problem, the n use the Karlsruhe Dexterous Handn s

3、how you.2、the mechanical systemMechanical systems will describe how this looks, and by what hand comp onen ts. It determ ines the structural desig n, the nu mber of fin gers and the use of materials. In additi on, to determ ine the drive (such as motors), sen sors (such as positi on en coder) positi

4、 on.2.1 Structural Desig nStructural desig n of flexible robot will play a large role, that it can capture and what type of object can be grasped object what to do. Design of a robot han d, it must ide ntify three basic eleme nts: the nu mber of fin gers, fin ger joints and the nu mber of dime nsion

5、s and placeme nt of the fin ger.To be able to work in the con text of robot crawli ng and safe operati on of the object, at least three fin gers. To be able to be grasped object operati ons get six degrees of freedom (three tran slati on al a nd three rotati onal degrees of freedom), each fin ger mu

6、st have three separate joints. In this way the firstgeneration of Karlsruhe Dexterous hands areused too. However, in order to re-grasp an object without releasing it first, the n pick up aga in, at least four fin gers.2.2 Drive SystemKnu ckle drive the opp onen ts flexibility also have a great impac

7、t, because it determines the potential strength, accuracy and speed of joint movement. Mechanical movementof the two areas which need to be considered: sources and movementdirectionof motion. In this regard, the literaturedescribes several differe nt methods, such as in 3 that by hydraulic cylinders

8、 or pneumatic cylinder in motion, or, as in most cases use the samemotor. In most cases, the motion drive (such as a motor) is too large and not directly with the corresp onding fin ger joints together, therefore, this movement must drive (usually located on the arm at the end of the connection poin

9、t)transferred.There are several different ways toachieve this movementpattern, such as the use of keys, belt and the active axis. Using this method of in direct drive refers to the join t, reduci ng overall system more or less stre ngth and accuracy, while the con trolsystem more complicated, becaus

10、e the different joints of each finger is often mechanically linked together, but in control system software to actually control them independently. Due to these shortcomings, so the movement of small knuckle drive with a direct integration becomes very necessary.2.3 Sensor SystemsRobots sensor syste

11、m can pass on the feedback information from the hardware control software. Fingers or grasp objects of a closed-loop control is necessary. Machines used in the hands of three types of sensors:1) gripper status sensor to determine the location of the knuckles and fingers and finger force situation. K

12、nowthe exact location will allow precise fingertip control becomespossible. In addition, knowing the role of the finger force on the grasped object, you can grab the fragile objects without breaking it.2) fingers and crawl status sensors provide the contact between the grasped object state informati

13、on. This tactile information in a timely manner during the extraction process can determine the location of the object point of first contact, but also to avoid incorrect capture, such as the edges of objects and cutting-edge catch. In addition to the already grasped object can detect whether the fa

14、ll, so as to avoid falling objects due to damage.3) the object state or attitude sensor used to determine the shape of the object within the fingers, position and direction. If you grab objects such information before the case is not clear, this sensor is very necessary. If this sensor can also act

15、on the objects have been caught, then it can control the attitude object (position and orientation) in order to monitor whether the fall.Depending on the drive system, the location of the finger joints in the geometrical information campaign drive or directly in the joints of measure. For example, i

16、f the motor and refers to a rigid coupling between the joints, then you can use a motor shaft angle encoder (before or in gear after gear) to measure the joint position. But if this is not enough or the coupling stiffness to obtain high accuracy, then this method can not be used.2.4 Karlsruhe Dexter

17、ous Hand n of mecha ni cal systemsIn order to obtain such re-grasp the other more complex operations, Karlsruhe Dexterous Hand n (KDH n ) formed by the four fingers and each finger consists of three independent joints form. Design of the hand to be able to apply in industrial environments (Figure 3)

18、 and the control box, cylinder and screw nut and other objects. Therefore, we use the same four fingers, to make them symmetrical, non-anthropomorphic configuration, and each finger can be rotated 90.View from the first generation design of the Karlsruhe Dexterous Hand experience gained, such as the

19、 belt caused by mechanical problems and larger control problems caused by the friction factor, Karlsruhe Dexterous Hand n with a number of different design decisions. Each fin ger jo int 2 and joi nt 3 betwee n the DC motor is in tegrated in to the fin gers in front of the body. This arran geme nt c

20、an be very hard ball with the moti on tran smissi on shaft gear to the fin ger joi nts. At the motor shaft an gle en coder (in gear before) this time as a state of high precisi on positi on sen sor.3、ConclusionTo make accurate and flexible robot to complete the operati on, a suitable mechanical syst

21、em and control system is required. The in troducti on of sta ndards is n ecessary to be con sidered, as the article said. Karlsruhe Dexterous Hand n performanee was very successful. This robot can capture a wide range of differe nt shapes, size and weight of objects. Grasped object posture can be co

22、n trolled reliably, eve n in the case of external interferenee.In addition, this system, a complex of fineoperations (such as heavy grasping) can be achieved. Robots in the human line of special research areas, based on a con cept called the fluid of a differe nt (Figure 2), based on a small robot a

23、lso has an thropomorphic and mechanization. This concept was introduced by the Karlsruhe Research Center IAI suggested. However, the main structure of the control software can be modified through appropriate and for such small robot use.译文：题目机械手的机械和控制系统1、机器人手的一般结构一个机器人手可以分成两大主要子系统：机械系统和控制系统。机械系统又可分为

24、结构设计、驱动系统和传感系统，我们将在第三部分作进 一步介绍。在第四部分介绍的控制系统至少由控制硬件和控制软件组成。我们将对这两大子系统的问题作一番基本介绍，然后用卡尔斯鲁厄灵巧手n演示一下。2、机械系统机械系统将描述这个手看起来如何以及由什么元件组成。它决定结构设计、 手指的数量及使用的材料。此外，还确定驱动器(如电动机)、传感器(如位置编码器)的位置。2.1结构设计结构设计将对机械手的灵活度起很大的作用， 即它能抓取何种类型的物体以 及能对被抓物体进行何种操作。设计一个机器人手的时候，必须确定三个基本要 素：手指的数量、手指的关节数量以及手指的尺寸和安置位置。为了能够在机械手的工作范围内安

25、全的抓取和操作物件，至少需要三根手 指。为了能够对被抓物体的操作获得6个自由度(3个平移和3个旋转自由度)，每个手指必须具备3个独立的关节。这种方法在第一代卡尔斯鲁厄灵巧手上被采 用过。但是，为了能够重抓一个物件而无需将它先释放再拾取的话，至少需要4根手指。要确定手指的尺寸和安置位置， 可以采用两种方法： 拟人化和非拟人化。 然 后将取决与被操作的物体以及选择何种期望的操作类型。 拟人化的安置方式很容 易从人手到机器人手转移抓取意图。 但是每个手指不同的尺寸和不对称的安置位 置将增加加工费用， 并且是其控制系统变得更加复杂， 因为每个手指都必须分别 加以控制。 对于相同手指的对称布置， 常采用

26、非拟人化方法。 因为只需加工和构 建单一的“手指模块” ，因此可减少加工费用，同时也可是控制系统简化。2.2 驱动系统指关节的驱动器对手的灵活度也有很大的影响， 因为它决定潜在的力量、 精 度及关节运动的速度。机械运动的两个方面需加以考虑：运动来源和运动方向。 在这方面，文献里描述了有几种不同的方法，如文献3 中说可由液压缸或气压缸产生运动，或者，正如大部分情况一样使用电动机。在多数情况下，运动驱动 器（如电机）太大而不能直接与相应的指关节结合在一起，因此，这个运动必须 由驱动器（一般位于机器臂最后的连接点处） 转移过来。 有几种不同的方法可实 现这种运动方式， 如使用键、 传动带以及活动轴。

27、 使用这种间接驱动指关节的方 法，或多或少地降低了整个系统的强度和精度， 同时也使控制系统复杂化， 因为 每根手指的不同关节常常是机械地连在一起， 但是在控制系统的软件里却要将它 们分别独立控制。 由于具有这些缺点， 因此小型化的运动驱动器与指关节的直接 融合就显得相当必要。2.3 传感系统机器手的传感系统可将反馈信息从硬件传给控制软件。 对手指或被抓物体建 立一个闭环控制是很必要的。在机器手中使用了 3 种类型的传感器：1）. 手爪状态传感器确定指关节和指尖的位置以及手指上的作用力情况。 知道了指尖的精确位置将使精确控制变得可能。 另外，知道手指作用在被抓物体 上的力，就可以抓取易碎物件而不会打破它。2）. 抓取状态传感器提供手指与被抓物体之间的接触状态信息。这种触觉 信息可在抓取过程中及时确定与物体第一次接触的位置点， 同时也可避免不正确 的抓取，如抓到物体的边缘和尖端。 另外还能察觉到已抓物体是否滑落， 从而