工程英语翻译

1、工程英语翻译机械工程英语2题目： Modular Robots for Flexible Assembly模块化机器人柔性装配学院：机械学院专业：机械设计班级：机自096学 号： 0908030349学生姓名：王章进2021 年 5 月 17 日Modular Robots for Flexible Assembly模块化机器人柔性装配AbstractDue to short life cycles of products, assembly plants（工厂）have to beadapted quickly to both changing products and methods of

2、 production. Modularly designed robotic systems can play a roll in a solution to this problem. Such robots are not only flexible in programming（编程）but also offer adaptableworking envelopes （轨道线）and kinematic （运动学上的）chains. This paperdescribes the development and design of a configurable（机构的）modular

3、robotsystem. This system consists of autonomous （自备的）modules, which includeall components that are necessary to generate movements. The drive components provide both rotational （转动的）and prismatic degrees of freedom. Theinterfaces（ 接口 ） between the modules are uniform. Problems with cable bridges due

4、 to a variety of moving cables are avoided by the fact that bus systems（总线系统 ） for both the energy and data transmission are used. The developed technology is demonstrated（ 证明 ） by some robots which consist of the described components.由于短生命周期产品，组装厂必须迅速适应改变产品和生产方法。模块化设计的机器人系统可以解决这一问题。这种机器人不仅灵活的编程也提供了

5、适应工作路线和运动链。 本文介绍了开发和设计一个可配置的模块化机器人系统。该系统由自治模块，它包括所有产生必要运动的组件。该驱动器组件提供旋转和平移自由度。接口模块之间的统一。电缆 桥由于各种移动电缆的问题事实是可以避免，总线系统的能量和数据传输的使用。这先进 的技术通过描述机器人的机构所展示，Keywords: Modular robots, decentralised control system, decentralised power supply关键字 ：模块化机器人，分散式控制系统，分散式供电。Concepts for modular robotsIn order to succe

6、ssfully fulfil the requirements for flexible production systems, robots can be modularly designed. Such robots possess subsystems（子系统 ） such as numerical control, kinematic structure, drive components and peripheral （次要的）components that are flexible and modular. Currently thelowest level of flexibil

7、ity is offered by the overall mechanical structure of industrial robots. Thus when such a robot is designed and assembled for a specific task, it is only capable of performing this task for the rest of its lifetime. This fact generally has lead to over dimensioning（尺寸标注）ofindustrial robots for a par

8、ticular task. Moreover, modification（改变）of themechanical structure of industrial robots has generally proved not to be economically feasible （可行的）.模块化机器人的概念为了成功地完成的要求灵活的生产系统，机器人可以进行模块化设计。这种机器人拥有的子系统等数值控制，运动结构，传动部件和外设的组成部分，是灵活的，模块化。目前的最低水平的灵活性，提供了全面的工业机器人的机械结构。因此，当这样一个机器人的设计和组装为一个特定的任务，这是唯一能够执行此任务的余下

9、 的一生。这一事实已普遍导致超过尺寸工业机器人为一个特定的任务。此外，修改的机械 结构，工业机器人已普遍证明不是经济上可行的。This situation is mostly attributable to（由于 ） the fact that the majorityof industrial robots can be classed as specialised constructions. Typically hollow 空的 shafts （轴）, toothed belt drives, connecting rods and spindles（主轴） are utilised

10、for motion and force transmission. A large number of the current robotic drive systems utilizes integrated（完整的 ） motor/ gear systemsmounted（ 安装 ） on the joints （接头）which considerable increase the overallsize and weight of the robot. Such standard robot constructions are not suitable for use in modul

11、ar robot systems.这种情况主要由于工业机器人以特殊的机构被分类。典型的空心轴累零件，齿形皮带驱动，连杆和主轴被用来传递运动和动力。现在许多机器人驱动系统利用完整的发动机/齿轮传动系统安装在接头上，它增加了整体尺寸和重量。这种标准的机器人结构不适合使 用在模块化机器人系统。Therefore if modular robots are to be constructed, new components are required. Such systems contain the necessary elements for motion such as motors, measu

12、rement systems, brakes, gears and in special cases lasers in a single module. The connection of each axis is then performed（执行）by so-called joint connection modules. The joint connection modules are mechanically and geometrically （几何学地）simple due the fact that all motion componentsare contained in t

13、he modular elements.所以如果模块化机器人由新的必需的部件构成。这样的系统包含必要运动的元素如发动机、测量系统、制动、齿轮和在特殊情况下单个模块的激光。每个轴的连接由所谓的联 合连接模块执行。联合连接模块机械和机构简单，这事实由于所有运动组件都包含在模块 化的元素中。Thus the principle（ 原理 ） of modular industrial robots is to divide the construction into drive modules and joint connection modules. The drive modules must b

14、e capable of providing degrees of freedom for both rotational and prismatic motions. By means of differing of sizes, the requirements for different drive torques （力矩）and angular velocities （角速度）or force andspeed can easily be fulfilled. By means of the joint connection modules a variety of joint cen

15、tre distances and joint angles are possible and thus the overall working envelope of the robot can be modified. Moreover, through the selection of materials and their dimensions（尺寸 ） the stiffness（ 坚硬 ） of thejoint connection modules and thus of the complete robot can be influenced （7, 1）. Analysis

16、shows that more than 80% of current industrial robots can be reduced to 8 different kinematic types, all of which possess either 4 or 6 degrees of freedom, see Figure 1. This group of robots can be constructed using the available set of drive and joint connection modules.因此模块化的工业机器人的原理是将驱动模块和连接的模块分开

17、。驱动模块必须能提供旋转和平移的自由度。通过尺寸的不同，需要不同的驱动力矩和角速度或力和速度都能 容易的实现，通过连接模块各种接合中心的距离和关节角是可能的 , 因此整个机器人工作的路线机可以被修改。此外, 通过材料选择和它们的尺寸刚性连接模块, 因此整体机器人会被影响（7 - 1） 。分析显示, 超过80%的现有工业机器人可以减少到8 个不同的运动类型, 拥有 4 或 6 自由度 , 见图 1。这类机器人可以使用可用组驱动器和关节连接的模块构造。Drive module kinematic structureThe principle for all drive units is to br

18、ing together all components necessary for motion into a single module. Thus all modules contain electric motors, measurement systems, brakes, limit and reference switches. This is shown in the rotary/swivel（ 扶轮 / 旋转 ）drive in Figure 2.驱动模块的运动结构对所有驱动单元的原则是要汇集所有必要运动部件成单个模块。这样所有的模块中包含了电动发动机、测量系统、刹车系统、限

19、制和参考开关。这是显示在图2 中扶轮 /旋转驱动。The rotational and swivel motions are obtained by transferring the motor motions to a differential（ 差别的 ） transmission. High ratio gears generate the torque for the bevel（ 倾斜 ） gear from the motor torque（ 扭矩 ）. Wear resistant, brushless DC, synchronous（ 同步 ） or asynchronous（

20、 异步 ） machines are utilised as motors. Synchronous machines are preferable to asynchronous machines due their low losses especially in smaller constructions. Any heat generated by losses in the motors must be transferred（ 转移 ） through the drive module housing（ 外壳 ） and dissipated（ 消散 ） into the surr

21、ounding environment. This reduces the likelihood（ 可能性 ） of any heat stresses occurring in the bearings or robot mechanics.旋转的旋转运动是靠一个发动机运动的差动传递获得。高传动比的齿轮产生转矩的锥齿轮的扭矩来于发动机的扭矩。耐磨, 无刷直流、同步或异步电机当着发动机。由于其低损耗同步机好于异步机尤其在较小的机构上。发动机损失的任何热量必须转移, 通过驱动模块外壳和散入周围的环境。这减少了发生在轴承或机器人内热压力的可能性。Absolute or relative posit

22、ion sensors（传感器 ） can be used to measure boththe speed and position of the motors. In the case of synchronous machines, cyclically absolute resolvers（ 分解器 ） are necessary for correct current commutation（ 换向 ）. Permanent brake magnets are employed in order to fix the degree of freedom of any axis. If

23、 the bevel gear is replaced by a stiff（固定 ）frame, the rotational degree of freedom no longer exists and the swivel motion is driven by two motors in parallel.绝对或相对位置传感器可以用于测量发动机速度和位置。在同步机的情况下, 解析器周期的绝对性对正确换向很有必要。采用永久磁铁制动用以修正轴的自由程度。如果齿轮替换为一个固定的框架, 转动自由度不再存在或者旋转运动是由两个发动机在并行驱动。Decentralised numerical c

24、ontrol and joint position control componentsThe electrical and mechanical interface（接口）of this modular system isextremely important for the flexibility of the drive and joint connection modules. If the modular principles were limited only to the mechanical construction of therobot and not fulfilled

25、by the control system, then the goal of a modular robot system could not be fully realized（实现）.发散式数控和连接位置控制组件模块化系统的电气和机械接口极为重要的是驱动灵活性和节点连接模块。如果模块化 原则是限于机器人的机械机构而不是控制系统，模块化机器人系统的目标不能充分实现。The hardware technology currently used in machine tools and industrial robots requires a complicated（ 复杂）system of

26、 cables（ 电缆）in order to connect all drive systems. The main concept of a decentralised control system structure, is that the robot control system communicates with the drive systems by means of a common serial bus（ 串行总线）.Moreover, all drive systems share a common power supply （2, 3, 4）. Thus all nec

27、essary power electronics must be mounted（ 安装）within the drive modules. The distribution of tasks between the robot control system and the drive systems is largely dependent on the bandwidth（ 宽带）of the serial bus system and on the capabilities of the position control systems. The basic structure of s

28、uch a control system is shown in Figure 3.硬件技术目前用于机床和工业机器人需要一个复杂的系统，电缆为了连接所有的驱动 系统。发散控制系统结构最主要的概念，是机器人控制系统的通信驱动系统通过一个共同 的串行总线。此外，所有的驱动系统共享一个电源（2、3、4）。因此所有必要的电力电子必 须安装在驱动模块内。任务的分布在机器人控制系统和驱动系统在很大程度上依赖于带宽 的串行总线系统和位置控制系统的功能。这样一个控制系统的基本结构，如图3所示。The position set points calculated by the robot control sys

29、tem are transferred to axis position controllers, which ensure that the controlled variables（ 变量）follow these set points. The conventional（传统）axiscontrollers for robot drives consist of a position, a velocity（速度）and acurrent controller for the motor. Advanced controllers take into account the actual

30、 axis position by means of a direct position measurement system. The controller algorithms（ 算法）are computed using signal processors（ 处理器）which allow high sampling rates. In order to achieve optimal（最理想的）controllerperformance（ 性能）sampling times of between 1 ms and 0.2 ms for the position and velocity

31、 control and of between 100s and 40 s for the current control are necessary. The set points are delivered directly to the power electronicsof the drive amplifiers（ 放大器 ）. A compact form is achievable through the use of hybrid（ 混合 ） technology, whereby heat losses are dissipated by heat sinks（ 散热器 ）

32、（6, 5）.设定点位置的计算由机器人控制系统转移到轴位置的控制器，使得控制变量遵循这些设定点。传统的轴控制器的机器人驱动器组成的位置，速度和电流控制器的电机。先进的控制器，考虑到实际的轴的位置，通过直接位置测量系统。该控制器的算法是计算信号处理器允许高采样率。为了达到最佳的控制性能采样时间之间的1 毫秒和 0.2 毫秒的位置和速度控制在100 微秒和 40 微秒对电流控制是必要的。设定点直接传递到电力电子驱动放大器。一个紧凑的形式是可以实现, 通过使用混合技术，即热损失是散热器消散（6， 5）。Additional tasks of the axis processors include p

33、erforming startupsequences（ 序列 ） and diagnostic tasks. The reference point alignment（成直线 ） ofan axis is independently initiated by a command from the robot control system.The joint temperatures and limit switch states are constantly monitored（监控 ）during operation and transmitted directly to the cont

34、rol system.轴处理器的额外的任务包括执行启动序列和诊断任务。参考点的对齐的轴是独立发起的初始命令机器人控制系统。联合的温度和限制开关状态操作期间得到了持续的监控和直接传送到控制系统。Kinematic transmission errors caused by gearing systems are compensated（补偿 ） in the axis computers by means of axis specific correction parameters（参数 ） .In order to calculate or optimise the controller pa

35、rameters for each axis,system identification tasks are performed by each axis computer. For this purpose, signal generation and tracing algorithms are included in all axis processors. The actual optimization（ 优化 ） of the controller parameters can then be performed on a central computer.运动传输错误造成的传动系统

36、的补偿轴通过轴特定的修正参数。为了计算或优化控制器参数为每个轴，系统识别的任务是由每个轴电脑。为此，信号产生和跟踪算法是包含在所有轴处理器。实际优化控制器参数可以执行在一个中央计算机。Realisation of a modular robot for the assembly of worm gear systems实现模块化装配机器人蜗杆传动系统As part of research activities a modular robot system was designed and constructed for the assembly of worm gears. Table 1 l

37、ists the main design criteria（ 准则 ） of this system.作为研究的一部分活动模块化机器人系统设计和建造的蜗杆齿轮装配。表 1列出了该 系统的主要设计准则。An analysis of the assembly process shows that only linear（线性）joiningmovements in a vertical（垂直）direction are necessary when the gear housing isturned within an assembly system. This limitation allows

38、 a horizontal robot （SCARA） with 4 axes to employed for the assembly task. In order to construct a system using modular components the following 3 elements are necessary :two swivel modules,one linear/rotation module.分析了装配过程表明，只有线性加入运动在垂直方向是必要的，当齿轮外壳是在一个 装配系统。这一限制，允许横向机器人（机器人）与 4轴采用装配任务。构建一个系统的 模块化组

39、件使用以下3个要素是必要的：-旋转模块？，-一个线性/旋转模块？。Following selection of the modular elements, the joint centre distances and the required drive torques are specified. The joint centre point distances are directly related to the required working envelope of the robot. For the given requirements, joint centre distanc

40、es of 510 mm and 400 mm and a swivel（ 旋转）angle of 110 degrees are necessary.后选择的模块化元素，联合中心的距离和所需的驱动扭矩的规定。联合中心点的距离 是直接关系到所需工作路线的机器人。对于给定的要求，联合中心的距离为 510毫米和 400毫米和旋转角度 110度是必要的。These kinematic dimensions in combination with the required loading weights can only be partially fulfilled by currently avai

41、lable commercial components. Robots that fulfil the kinematic specifications（规格）are notcapable of dealing with the specified handling weight. Other devices which are suited to the specified handling weight have larger dimensions and working envelopes which leads to unnecessarily high costs.这些运动大小结合所

42、需要的载荷重量只能是部分实现了由现有的商业组件。机器人的 运动规格不能够处理的规定处理重量。其他设备适合指定的处理量有较大的尺寸和工作路 线，导致不必要的高成本。The dimensioning of the overall robot takes into account the mechanical natural frequencies（频率）.These resonance（ 共振）frequencies are dependent onthe mass distribution and the transmission system stiffness. The required d

43、rive torques are dependent on the predicted static and dynamic（动态）loads ofthe robot. Due to the designated（ 指定的）kinematic structure in this example,the rotational and swivel axes are only dynamically loaded. The rated data of the system are summarised in Table 2.该标注的整体机器人考虑到机械固有频率（频率）。这些共振频率依赖的质量分布和

44、 传动系统刚度。所需的驱动力矩是依赖于预测的静态和动态载荷的机器人。由于指定的运 动结构在这个例子中，旋转和旋转轴动态加载。额定数据的系统总结在表2。The joint and the manipulator操控器）modules are enhanced by adecentralised control system as shown in Figure 3. The joint position controller is implemented on a floating point signal processor. Thus, digital current, speed and

45、position control is possible for each two drive joint module. The sampling times are 50s and 500 s for the current andspeed/position controllers respectively（分别）.The transfer of the analogue（ 模拟）current values, the digital measurement systems and the reference and limit switches is performed using s

46、eparate interface cards. The communication with the robot control system computer is performed by a separate processor with a serial port. The transmission rate of this serial port（串行端口）is 2MByte/s. The communication protocol is based on the SERCOS specification but has been extended with（ 掺入）robot

47、specific functions. The communication between the joint modules and the robot control system utilizes fibre optics（ 纤维光学）where the applied cycle time is 5 ms. Thus, the position set points and real values are cyclically exchanged between the joint modules and the robot control system. Fine interpola

48、tion（插值）is applied to the positionset points in order to match the position controllers sampling time.联合和操作模块被分散控制系统加强如图3所示。该位置控制器上实现浮点数字信号处理器。因此，数字电流，速度，位置控制是可能的每个驱动关节模块。采样时间是 50 微秒和500微秒分别对电流和速度/位置控制器。传递的模拟电流值，数字测量系统和参 考和限位开关是采用单独的接口卡。通信与机器人控制系统的计算机是由一个单独的处理器与串行端口。传输速率这个串口2字节/秒的通信协议是基于SERCO规范但已延长与

49、机器人的具体功能。通信联合之间的模块和机器人控 制系统采用光纤在外加周期时间是5毫秒。因此，设定点的位置值与实际值之间的联合循环交换模块和机器人控制系统。精细插值应用于设定点的位置，以配合位置控制器的采样 时间The robot control system software is implemented（执行）on a processorboard which utilises a real-time multitasking（多任务）operating system. Thecyclically generated position set points are transferred t

50、o the joint modules via interface cards. Data transmissions to the end-effector（末端 ） are cyclicaland dependent on current requirements and are thus data type independent. The programming of the robot is performed using the standard programming language IRL.机器人控制系统软件是在处理器板上执行，采用实时多任务操作系统。循环产生的位置设定点转移

51、到关节模块通过接口卡。数据传输到末端是周期性的，依赖于当前的要求，因此数据类型独立。机器人的程序是通过使用标准的编程语言IRL。The joint and manipulator（ 操作器 ） modules that are used for the horizontal robot are shown as separate components in Figure 4. The modules are connected using clamping rings（ 卡环 ）. The interfaces for information and energy transmission a

52、re integrated into the module adapters（适配器 ）, see Figure 5a.Figure 5b shows that the decentralised control system results in a simplified interface structure and thus offers a considerable improvement over the standard cabling solutions of industrial robots. The complete modular robot is illustrated

53、（ 举例说明） in Figure 6.联合操作模块，用于水平机器人显示为不同的部件在图4。该模块连接使用卡环。接口信息和能量传输集成到模块适配器，见图5。图5 二表明，分散控制系统，结果在一个简化的界面结构，从而提供了一个相当大的改进的标准布线解决方案的工业机器人。完整的模块化机器人示于图6。ConclusionThe concept of the modular industrial robot that has been described enables the challenges of flexible production strategies and economic prod

54、uction technology to be met. These systems offer flexible technology that is adaptable to new production situations while requiring a flexible and modular robot structure as well as a decentralised control system that matches and enhances the capabilities of the modular robot construction.模块化工业机器人已被

55、描述，使柔性生产策略和经济生产技术得到满足的挑战的概念。这些系统提供了灵活的技术，是适应新的生产形势，需要一个灵活的模块化机器人的结构 以及分散控制系统的匹配，提高能力的模块化机器人的结构。The solution presented here integrates all subsystems necessary for motion into a single unit and allows connection of a number of such units by means of passive（ 被动的 ） elements. The drive components allow

56、 both rotational and prismatic degrees of freedom. The axis connection modules facilitate（促进 ）different joint centre point distances and angles while allowingcontrol of the overall mechanical stiffness. Different module dimensions allow the construction of systems with a variety of rated values. The interfaces between the modules utilise a uniform concept thus avoiding problematic cabling configurations（ 结