智能机器人外文翻译.docx

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1、智能机器人外文翻译 Robot 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, sensor and meage dispose and artificial intelligence and so on.With the development of economic and

2、 the demand for automation control, robot technology is developed quickly and all types of the robots products are come into being.The practicality use of robot products not only solves the problems which are difficult to operate for human being, but also advances the industrial automation program.A

3、t present, the research and development of robot involves several kinds of technology and the robot system configuration is so complex that the cost at large is high which to a certain extent limit the robot abroad use.To development economic practicality and high reliability robot system will be va

4、lue to robot social application and economy development. With the rapid progre with the control economy and expanding of the modern cities, the let of sewage is increasing quickly: With the development of modern technology and the enhancement of consciousne about environment reserve, more and more p

5、eople realized the importance and urgent of sewage disposal.Active bacteria 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 for lacunaris plastic makes it is a consequent fo

6、r the plastic producing with automation and high productivity.Therefore, it is very neceary to design a manipulator that can automatically fulfill the plastic holding.With the analysis of the problems in the design of the plastic holding manipulator and synthesizing the robot research and developmen

7、t condition in recent years, a economic scheme is concluded on the basis of the analysis of mechanical configuration, 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 arti

8、cle, the mechanical configuration combines the character of direction coordinate and the arthrosis coordinate which can improve the stability and operation flexibility of the system.The main function of the transmiion mechanism is to transmit power to implement department and complete the neceary mo

9、vement.In this transmiion structure, the screw transmiion mechanism transmits the rotary motion into linear motion.Worm gear can give vary transmiion 1 ratio.Both of the transmiion mechanisms have a characteristic of compact structure.The design of drive system often is limited by the environment co

10、ndition and the factor of cost and technical lever.The step motor can receive digital signal directly and has the ability to response outer environment immediately and has no accumulation error, which often is used in driving system.In this driving system, open-loop control system is composed of ste

11、pping motor, which can satisfy the demand not only for control precision but also for the target of economic and practicality.on this basis, the analysis of stepping motor in power calculating and style selecting is also given. The analysis of kinematics and dynamics for object holding manipulator i

12、s given in completing the design of mechanical structure and drive system.Kinematics 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

13、tween manipulators tip position and arthrosis angles is concluded by coordinate transform method.The geometry method is used in solving inverse kinematics problem and the result will provide theory evidence for control system.The f0unction of dynamics is to get the relationship between the movement

14、and force and the target is to satisfy the demand of real time control.in this chamfer, Newton-Euripides method is used in analysis dynamic problem of the cleaning robot and the arthrosis force and torque are given which provide the foundation for step motor selecting and structure dynamic optimal t

15、ing.Control system is the key and core part of the object holding manipulator 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 demand

16、 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 dispose, step motor drive and error diagnose and so on.A t the same time, the configuration structur

17、e features, task principles and the position function with high precision of the control card PCL-839 are analyzed.Hardware is the matter foundation of the control.System and the software is the spirit of the control system.The target of the software is to combine all the parts in optimizing style a

18、nd to improve the efficiency and reliability of the control system.The software design of the object holding manipulator control system is divided into several blocks such as 2 system initialization block, data proce block and error station detect and dispose model and so on.PCL-839 card can solve t

19、he communication between the main computer and the control cells and take the measure of reducing the influence of the outer signal to the control system.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 moto

20、r, the increase and decrease of the speed is must considered when the step motor running in high speed and start or stop with great acceleration.The increase and decrease of the motors speed can be controlled by the pulse frequency sent to the step motor drive with a rational method.This can be impl

21、emented either by hardware or by software.A step motor shift control method is proposed, which is simple to calculate, easy to realize and the theory means is straightforward.The motor s acceleration can fit the torque-frequency curve properly with this method.And the amount of calculation load is l

22、e than the linear acceleration shift control method and the method which is based on the exponential rule to change speed.The method is tested by experiment.At last, the research content and the achievement are sum up and the problems and shortages in main the content are also listed.The development

23、 and application of robot in the future is expected. 3 机器人 机器人是典型的机电一体扮装置，它综合运用了机械与精密机械、微电子与计算机、自动限制与驱动、传感器与信息处理以及人工智能等多学科的最新探讨成果，随着经济的发展和各行各业对自动化程度要求的提高，机器人技术得到了快速发展，出现了各种各样的机器人产品。机器人产品的好用化，既解决了很多单靠人力难以解决的实际问题，又促进了工业自动化的进程。目前，由于机器人的研制和开发涉及多方面的技术，系统结构困难，开发和研制的成本普遍较高，在某种程度上限制了该项技术的广泛应用，因此，研制经济型、好用化、高

24、牢靠性机器人系统具有广泛的社会现实意义和经济价值。 由于我国经济建设和城市化的快速发展，城市污水排放量增长很快，污水处理己经摆在了人们的议事日程上来。随着科学技术的发展和人类学问水平的提高，人们越来越相识到污水处理的重要性和迫切性，科学家和探讨人员发觉塑料制品在水中是用于污水处理的很有效的污泥菌群的附着体。塑料制品的大量需求，使得塑料制品生产的自动化和高效率要求成为经济发展的必定。 本文结合塑料一次挤出成型机和塑料抓取机械手的研制过程中出现的问题，综述近几年机器人技术探讨和发展的状况，在充分发挥机、电、软、硬件各自特点和优势互补的基础上，对物料抓取机械手整体机械结构、传动系统、驱动装置和限制系

25、统进行了分析和设计，提出了一套经济型设计方案。采纳直角坐标和关节坐标相结合的框架式机械结构形式，这种方式能够提高系统的稳定性和操作敏捷性。传动装置的作用是将驱动元件的动力传递给机器人机械手相应的执行机构，以实现各种必要的运动，传动方式上采纳结构紧凑、传动比大的蜗轮蜗杆传动和将旋转运动转换为直线运动的螺旋传动。机械手驱动系统的设计往往受到作业环境条件的限制，同时也要考虑价格因素的影响以及能够达到的技术水平。由于步进电机能够干脆接收数字量，响应速度快而且工作牢靠并无累积误差，常用作数字限制系统驱动机构的动力元件，因此，在驱动装置中采纳由步进电机构成的开环限制方式，这种方式既能满意限制精度的要求，又

26、能达到经济性、好用化目的，在此基础上，对步进电机的功率计一算及选型问题经行了分析。 在完成机械结构和驱动系统设计的基础上，对物料抓取机械手运动学和动力学进行了分析。运动学分析是路径规划和轨迹限制的基础，对操作臂进行了运动学正、逆问题的分析可以完成操作空间位置和速度向驱动空间的映射，采纳齐次坐标变换法得到了操作臂末端位置和姿态随关节夹角之间的变换关系，采纳几何法分析了操作臂的逆向运动学方程求解问题，对限制系统设计供应了理论依据。机器人动力学是探讨物体的运动和作用力之间的关系的科学，探讨的目的是为了4 满意是实时性限制的须要，本文采纳牛顿-欧拉方法对物料抓取机械手动力学进行了分析，计算出了关节力和

27、关节力矩，为步进电机的选型和动力学分析与结构优化供应理论依据。 限制部分是整个物料抓取机械手系统设计关键和核心，它在结构和功能上的划分和实现干脆关系到机器人系统的牢靠性、好用性，也影响和制约机械手系统的研制成本和开发周期。在限制主机的选用上，采纳结构紧凑、扩展功能强和牢靠性高的PC工业限制计算机作为主机，配以PCL-839卡主要担当系统功能初始化、数据运算与处理、步进电机驱动以及故障诊断等功能;同时对PCL-839卡的结构特点、功能原理和其高定位功能等给与了分析。硬件是整个限制系统以及极限位置功能赖以存在的物质基础，软件则是计算机限制系统的神经中枢，软件设计的目的是以最优的方式将各部分功能有机

28、的结合起来，使系统具有较高的运行效率和较强的牢靠性。在物料抓取机械手软件的设计上，采纳的是模块化结构，分为系统初始化模块、数据处理模块和故障状态检测与处理等几部分。主控计算机和各限制单元之间全部由PCL-839卡联系，并且由该卡实现抗干扰等问题，削减外部信号对系统的影响。 步进电机的启停频率远远小于其最高运行频率，为了提高工作效率，须要步进电机高速运行并快速启停时，必需考虑它的升，降速限制问题。电机的升降速限制可以归结为以某种合理的力一式限制发送到步进电机驱动器的脉冲频率，这可由硬件实现，也可由软件方法来实现。本文提出了一种算法简洁、易于实现、理论意义明确的步进电机变速限制策略:定时器常量修变

29、更速限制方案。该方法能使步进电机加速度与其力矩频率曲线较好地拟合，从而提高变速效率。而且它的计算量比线性加速度变速和基于指数规律加速度的变速限制小得多。通过试验证明白该方法的有效性。 最终，对论文主要探讨内容和取得的技术成果进行了总结，提出了存在的问题和不足，同时对机器人技术的发展和应用进行了展望。 5 智能机器人外文翻译 机器人外文翻译 爬墙机器人外文翻译 外文翻译 樱桃收获机器人 管道机器人外文翻译（优秀） 机器人算法外文翻译 智能避障机器人设计外文翻译 工业机器人的发展外文翻译 屋顶清扫机器人外文翻译 机器人及机器人传感技术(毕业论文外文翻译). 本文来源：网络收集与整理，如有侵权，请联系作者删除，谢谢！第12页 共12页第 12 页 共 12 页第 12 页 共 12 页第 12 页 共 12 页第 12 页 共 12 页第 12 页 共 12 页第 12 页 共 12 页第 12 页 共 12 页第 12 页 共 12 页第 12 页 共 12 页第 12 页 共 12 页