机械手类毕业设计外文文献翻译

毕业设计(论文)外文资料翻译系别：专业：班级：姓名：学号：外文出处：附件：1.原文；2.译文2013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,anSMCCOM20020universallocalareanetworkcontrollerwithanRS-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(SMCCOM20020).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,CarnegieMellonUniversity.TheauthorswouldalsoliketothankRandyCasciola,MarkDeLouis,EricHoffman,andJimMoodyfortheirvaluablecontributionstothedesignoftheRMMSsystem.附件二：可迅速布置的机械手系统ChristiaanJ.J.Paredis,H.BenjaminBrown,PradeepK.Khosla摘要：一个迅速可部署的机械手系统，可以使再组合的标准化的硬件的灵活性用标准化的编程工具结合，允许用户迅速建立为一项规定的任务来通常地控制机械手。这篇文章描述这样的一个系统的两个主要方面，即，再组合的标准化的机械手系统(RMMS)硬件和相应控制软件。1介绍机器人操纵装置可能容易被程序重调执行不同的任务，然而一个机械手可以执行的任务的范围已经被它的机械结构限制。例如，一个很适合准确的运动的机械手在一张桌子上部或许将不能朝着垂直的方向举起重物。因此，执行规定的任务，需要有一个适宜的机械结构来选择机械手。我们提议一个迅速可部署的机械手系统的概念来处理固定构造的机械手的上述的缺点。一迅速可部署机械手系统由迅速建造的软件和硬件组成，是适合一规定任务的一个机械手。一个迅速可部署的系统的中心的组成局部是一个再组合的标准化的机械手系统(RMMS)。RMMS利用一可交换的连接的和各种尺寸和性能的共同模件。通过结合这些多功能的模件，大范围专用机械手可以被收集。最近，有相当多的对机械手标准化的想法的兴趣。但是，对于研究应用以及为工业应用来说，大多数这些系统缺乏的必要的能力，这是迅速可部署的体制的概念的关键。有效的使用RMMS需要基于任务的设计软件。这软件认为是任务和可得到的操纵者模件的输入描述；作为一标准化会议构造最正确适合执行规定任务的业务的产量产生。几种不同的方法已经被成功使用解决这个错综复杂的问题的。一个迅速可部署的机械手系统的第3个重要的组成局部是控制软件的代的一种框架。为实时基于传感器的控制系统降低软件生成的复杂性，一个软件范例叫软件为会议已经在CMU先进的操纵者实验室里被提出。这个范例结合可重复使用和再组合的软件成分的概念，象妄想实时操作系统支持的那样,用一个图形用户界面和可视程序设计语言而实施.虽然软件会议范例提供迅速编程操纵者系统的软件根底设施，但是它不解决编程问题。基于传感器的机械手系统的明确编程由于必须被为机器人指定执行任务的广阔数量的细节是麻烦的。基于传感器的机器人的软件综合问题可以被简化，通过提供巩固的机器人技能，即，为在机器人任务域完成普通任务封装策略.这样机器人技能能在而不需要考虑任何低级的细节的任务步方案阶段使用。作为使用一个迅速可部署的系统的例子，在一种核环境里，在那里它必须检查材料和放射性污染的空间，或者集合和修理设备考虑一个操纵者。在这样的一种环境里，广泛改变的动态的(例如，工作区)和动态的(例如，速度，净载重量)性能被要求，并且这些要求可能不被知道priori。不得不准备大套要完成这几次任务的不同操纵者一昂贵解决方法一使用迅速可部署操纵者系统能。考虑以下脚本：一项具体的任务一被鉴定，基于任务的设计软件就使最正确的标准化的会议构造下决心进行任务。人们然后从RMMS模件装配这个最正确的构造或者，将来，也许到另一个操纵者。导致的操纵者被迅速通过使用软件装配范例和我们的机器人技能的信息库编程序。最后，操纵者被有效地使用执行它的任务。虽然这样的脚本仍然是未来的，再组合的标准化的操纵者系统的开展，在这篇文章里描述，是向我们的一个迅速可部署的机械手系统的目标的一个向前的主要的台阶。我们的方法能为自治机械手的下一代形成根底，其中基于传感器的自治权的传统的观念被给予基于构造的自治权。确实，虽然一个部署的系统能有它需要的全部感觉并且方案的信息，它可能仍然不能完成它的任务，因为任务是在系统的物理能力以外。一个迅速可部署的系统，另一方面，能改编它的基于任务说明的物理能力和带有先进的感觉，控制，以及方案策略，自动完成任务。2硬件模块的2种设计在通常工业机械手里，那些控制器单独接在那些传感器接口，功率放大器，并且因机械手全部关节那些机械手而控制处理器。许多电线连接这个控制单位和传感器，位于机械手的每个关节的作动器和刹车是必要的。大量电气装线和这样的一次系统平面布置的非可扩展性，为标准化的机械手使它不能实行。我们提出的这个解决方法是将控制硬件分配给操纵者的每个个别的模件。包括传感器的这些模件然后成为整装组件，作动器，一个刹车，一次输送，一个传感器接口，一个电动机放大器和一个通信接口。2.1机械设计RMMS工程的目标是有可提供的多种硬件模块。迄今，我们已经建造4种模件：操纵者根底，一连接模块，枢共同模件(一在身材显示)，并且一旋转共同模件。底部模件和连接模块没有自由度；共同模件各自有一自由度。共同模件的机械设计紧密适合一台直流电动机，一个有自动防故障设备的刹车，一台转速表，谐波运动。那些枢和旋转共同模件在外部使用提供那些直角不同或者成队构造分别，但是相同内部，在典型地方显示一共同的枢的内部结构。每个共同模件包括一台直流力矩电动机和100：1的谐波驾驶速度减压器，并且被在1.5rad/s和270纳米的最高转矩的最高速度下。不是每个模件都有块大约10.7公斤一单个，小型，耐压的X类型提供需要的刚性连结并且相连在一起。一根空的电动机轴通过全部旋转的零部件，并且为最小的屈曲电信号的传送提供一条通道。2.2电子设计通俗设计的舱中的电子也被根据的原那么设计。每个RMMS模件包含主板，提供根本的功能性和可以被堆积增加模件具体的功能性。主板由西门子80C166组成，64KROM，RAM，一SMCCOM20020的64K有一台RS-485驱动器和一台RS-232驱动器的普遍的局部地区网络控制器。主板的功能是通过一种RS-485公共系统建立与主接口的联系和进行程序控制模件，象在第4局部被更详细解释的那样。RS-232连续的公共汽车司机考虑到单纯的诊断和软件原型法。一个堆积的连接器有各种各样的功能允许模糊的数量的增加，例如传感器接口，电动机控制器，RAM扩大器等等，在我们的当今的实施里，只是有作动器的模件包括daughtercard。这张卡片到数字化的变换器包含一16位resolver，要与转速表和一台12位D/A变换器接口控制电