外文翻譯--多自由度鋁合金機械手的設計與實現(xiàn)

1、<p>　　山　東　輕　工　業(yè)　學　院</p><p><b>　　中英文翻譯</b></p><p>　　院系名稱 機械工程學院 </p><p>　　學生姓名 </p><p>　　專業(yè)班級 機械設計制造及其自動化08-4 </p>

2、<p>　　指導教師 </p><p>　　二○一二　年　四　月　二十　日</p><p>　　Aluminum multi-degreeof freedom manipulator Design and Implementation</p><p>　　Mechanical hand, is also cal

3、led from begins, auto hand can imitate the manpower and arm's certain holding function, with by presses the fixed routine to capture, the transporting thing 'OR' operation tool's automatic operation insta

4、llment. It may replace person's strenuous labor to realize the production mechanization and the automation, can operate under the hostile environment protects the personal safety, thus widely applies in departments a

5、nd so on machine manufacture, metallurgy, electron, </p><p>　　The manipulator is mainly composed of the hand and the motion. The hand is uses for to grasp holds the work piece (or tool) the part, according t

6、o is grasped holds the thing shape, the size, the weight, the material and the work request has many kinds of structural styles, like the clamp, the request hold and the adsorption and so on. The motion, causes the hand

7、to complete each kind of rotation (swinging), the migration or the compound motion realizes the stipulation movement, changes is graspe</p><p>　　The manipulator's type, may divide into the hydraulic pres

8、sure type, the air operated according to the drive type, electromotive type, the mechanical manipulator; May divide into the special-purpose manipulator and the general-purpose manipulator two kinds according to the appl

9、icable scope; May divide into the position control and the continuous path according to the path control mode controls the manipulator and so on. </p><p>　　The manipulator usually serves as the engine bed or

10、 other machine's add-on component, like on the automatic machine or the automatic production line loading and unloading and the transmission work piece, replaces the cutting tool in the machining center and so on, ge

11、nerally does not have the independent control device. Some operating equipment needs by the person direct control, if uses in the host who the atomic energy department manages the dangerous goods from the type operator a

12、lso often bei</p><p>　　Robot is a type of mechantronics equipment which synthesizes the last research achievement of engine and precision engine, micro-electronics and computer, automation control and drive,

13、 sensor and message dispose and artificial intelligence and so on. With the development of economic and the demand for automation control, robot technology is developed quickly and all types of the robots products are co

14、me into being. The practicality use of robot products not only solves the problems which are dif</p><p>　　With the rapid progress with the control economy and expanding of the modern cities, the let of sewag

15、e is increasing quickly: With the development of modern technology and the enhancement of consciousness about environment reserve, more and more people realized the importance and urgent of sewage disposal. Active bacter

16、ia method is an effective technique for sewage disposal，The lacunaris plastic is an effective basement for active bacteria adhesion for sewage disposal. The abundance requirement </p><p>　　With the analysis

17、of the problems in the design of the plastic holding manipulator and synthesizing the robot research and development condition in recent years, a economic scheme is concluded on the basis of the analysis of mechanical co

18、nfiguration, transform system, drive device and control system and guided by the idea of the characteristic and complex of mechanical configuration, electronic, software and hardware. In this article, the mechanical conf

19、iguration combines the character of direct</p><p>　　The analysis of kinematics and dynamics for object holding manipulator is given in completing the design of mechanical structure and drive system. Kinemati

20、cs analysis is the basis of path programming and track control. The positive and reverse analysis of manipulator gives the relationship between manipulator space and drive space in position and speed. The relationship be

21、tween manipulator’s tip position and arthrosis angles is concluded by coordinate transform method. The geometry method is use</p><p>　　Control system is the key and core part of the object holding manipulato

22、r system design which will direct effect the reliability and practicality of the robot system in the division of configuration and control function and also will effect or limit the development cost and cycle. With the d

23、emand of the PCL-839 card, the PC computer which has a. tight structure and is easy to be extended is used as the principal computer cell and takes the function of system initialization, data operation and di</p>

24、<p>　　The start and stop frequency of the step motor is far lower than the maximum running frequency. In order to improve the efficiency of the step motor, the increase and decrease of the speed is must considered w

25、hen the step motor running in high speed and start or stop with great acceleration. The increase and decrease of the motor’s speed can be controlled by the pulse frequency sent to the step motor drive with a rational met

26、hod. This can be implemented either by hardware or by software. A step </p><p>　　A t last, the research content and the achievement are sum up and the problems and shortages in main the content are also list

27、ed. The development and application of robot in the future is expected.</p><p>　　多自由度鋁合金機械手的設計與實現(xiàn)</p><p>　　能模仿人手和臂的某些動作功能，用以按固定程序抓取、搬運物件或操作工具的自動操作裝置。它可代替人的繁重勞動以實現(xiàn)生產(chǎn)的機械化和自動化，能在有害環(huán)境下操作以保護人身安全，因而廣泛

28、應用于機械制造、冶金、電子、輕工和原子能等部門。</p><p>　　機械手主要由手部和運動機構組成。手部是用來抓持工件（或工具）的部件，根據(jù)被抓持物件的形狀、尺寸、重量、材料和作業(yè)要求而有多種結構形式，如夾持型、托持型和吸附型等。運動機構，使手部完成各種轉動（擺動）、移動或復合運動來實現(xiàn)規(guī)定的動作，改變被抓持物件的位置和姿勢。運動機構的升降、伸縮、旋轉等獨立運動方式，稱為機械手的自由度 。為了抓取空間中任意位置

29、和方位的物體，需有6個自由度。自由度是機 械手設計的關 鍵參數(shù)。自由 度越多，機械手的靈活性越大，通用性越廣，其結構也越復雜。一般專用機械手有2～3個自由度。</p><p>　　機械手的種類，按驅(qū)動方式可分為液壓式、氣動式、電動式、機械式機械手；按適用范圍可分為專用機械手和通用機械手兩種；按運動軌跡控制方式可分為點位控制和連續(xù)軌跡控制機械手等。</p><p>　　機械手通常用作機床或其

30、他機器的附加裝置，如在自動機床或自動生產(chǎn)線上裝卸和傳遞工件，在加工中心中更換刀具等，一般沒有獨立的控制裝置。有些操作裝置需要由人直接操縱，如用于原子能部門操持危險物品的主從式操作手也常稱為機械手。</p><p>　　機器人是典型的機電一體化裝置，它綜合運用了機械與精密機械、微電子與計算機、自動控制與驅(qū)動、傳感器與信息處理以及人工智能等多學科的最新研究成果，隨著經(jīng)濟的發(fā)展和各行各業(yè)對自動化程度要求的提高，機器人技

31、術得到了迅速發(fā)展，出現(xiàn)了各種各樣的機器人產(chǎn)品。機器人產(chǎn)品的實用化，既解決了許多單靠人力難以解決的實際問題，又促進了工業(yè)自動化的進程。目前，由于機器人的研制和開發(fā)涉及多方面的技術，系統(tǒng)結構復雜，開發(fā)和研制的成本普遍較高，在某種程度上限制了該項技術的廣泛應用，因此，研制經(jīng)濟型、實用化、高可靠性機器人系統(tǒng)具有廣泛的社會現(xiàn)實意義和經(jīng)濟價值。 </p><p>　　由于我國經(jīng)濟建設和城市化的快速發(fā)展，城市污水排放量增長很快

32、，污水處理己經(jīng)擺在了人們的議事日程上來。隨著科學技術的發(fā)展和人類知識水平的提高，人們越來越認識到污水處理的重要性和迫切性，科學家和研究人員發(fā)現(xiàn)塑料制品在水中是用于污水處理的很有效的污泥菌群的附著體。塑料制品的大量需求，使得塑料制品生產(chǎn)的自動化和高效率要求成為經(jīng)濟發(fā)展的必然。</p><p>　　本文結合塑料一次擠出成型機和塑料抓取機械手的研制過程中出現(xiàn)的問題，綜述近兒年機器人技術研究和發(fā)展的狀況，在充分發(fā)揮機、電

33、、軟、硬件各自特點和優(yōu)勢互補的基礎上，對物料抓取機械手整體機械結構、傳動系統(tǒng)、驅(qū)動裝置和控制系統(tǒng)進行了分析和設計，提出了一套經(jīng)濟型設計方案。采用直角坐標和關節(jié)坐標相結合的框架式機械結構形式，這種方式能夠提高系統(tǒng)的穩(wěn)定性和操作靈活性。傳動裝置的作用是將驅(qū)動元件的動力傳遞給機器人機械手相應的執(zhí)行機構，以實現(xiàn)各種必要的運動，傳動方式上采用結構緊湊、傳動比大的蝸輪蝸桿傳動和將旋轉運動轉換為直線運動的螺旋傳動。機械手驅(qū)動系統(tǒng)的設計往往受到作業(yè)環(huán)境

34、條件的限制，同時也要考慮價格因素的影響以及能夠達到的技術水平。由于步進電機能夠直接接收數(shù)字量，響應速度快而且工作可靠并無累積誤差，常用作數(shù)字控制系統(tǒng)驅(qū)動機構的動力元件，因此，在驅(qū)動裝置中采用由步進電機構成的開環(huán)控制方式，這種方式既能滿足控制精度的要求，又能達到經(jīng)濟性、實用化目的，在此基礎上，對步進電機的功率計一算及選型問題經(jīng)行了分析。</p><p>　　在完成機械結構和驅(qū)動系統(tǒng)設計的基礎上，對物料抓取機械手運動

35、學和動力學進行了分析。運動學分析是路徑規(guī)劃和軌跡控制的基礎，對操作臂進行了運動學正、逆問題的分析可以完成操作空間位置和速度向驅(qū)動空間的映射，采用齊次坐標變換法得到了操作臂末端位置和姿態(tài)隨關節(jié)夾角之間的變換關系，采用幾何法分析了操作臂的逆向運動學方程求解問題，對控制系統(tǒng)設計提供了理論依據(jù)。機器人動力學是研究物體的運動和作用力之間的關系的科學，研究的目的是為了滿足是實時性控制的需要，本文采用牛頓-歐拉方法對物料抓取機械手動力學進行了分析，計

36、算出了關節(jié)力和關節(jié)力矩，為步進電機的選型和動力學分析與結構優(yōu)化提供理論依據(jù)。 </p><p>　　控制部分是整個物料抓取機械手系統(tǒng)設計關鍵和核心，它在結構和功能上的劃分和實現(xiàn)直接關系到機器人系統(tǒng)的可靠性、實用性，也影響和制約機械手系統(tǒng)的研制成本和開發(fā)周期。在控制主機的選用上，采用結構緊湊、擴展功能強和可靠性高的PC工業(yè)控制計算機作為主機，配以PCL-839卡主要承擔系統(tǒng)功能初始化、數(shù)據(jù)運算與處理、步進電機驅(qū)動以

37、及故障診斷等功能;同時對PCL-839卡的結構特點、功能原理和其高定位功能等給與了分析。硬件是整個控制系統(tǒng)以及極限位置功能賴以存在的物質(zhì)基礎，軟件則是計算機控制系統(tǒng)的神經(jīng)中樞，軟件設計的目的是以最優(yōu)的方式將各部分功能有機的結合起來，使系統(tǒng)具有較高的運行效率和較強的可靠性。在物料抓取機械手軟件的設計上，采用的是模塊化結構，分為系統(tǒng)初始化模塊、數(shù)據(jù)處理模塊和故障狀態(tài)檢測與處理等幾部分。主控計算機和各控制單元之間全部由PCL-839卡聯(lián)系，并

38、且由該卡實現(xiàn)抗干擾等問題，減少外部信號對系統(tǒng)的影響。</p><p>　　步進電機的啟停頻率遠遠小于其最高運行頻率，為了提高工作效率，需要步進電機高速運行并快速啟停時，必須考慮它的升，降速控制問題。電機的升降速控制可以歸結為以某種合理的力一式控制發(fā)送到步進電機驅(qū)動器的脈沖頻率，這可由硬件實現(xiàn)，也可由軟件方法來實現(xiàn)。本文提出了一種算法簡單、易于實現(xiàn)、理論意義明確的步進電機變速控制策略:定時器常量修改變速控制方案。該