(完好版)机械手类_毕业设计外文文献翻译_.docx
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1、(完好版)机械手类_毕业设计外文文献翻译_当前位置:文档视界(完好版)机械手类_毕业设计外文文献翻译_(完好版)机械手类_毕业设计外文文献翻译_附件一:ARapidlyDeployableManipulatorSystemChristiaanJ.J.Paredis,H.BenjaminBrown,PradeepK.KhoslaAbstract:Arapidlydeployablemanipulatorsystemcombinestheflexibilityofreconfigurablemodulartask.Thisarticledescribestwomainaspectsofsuchas
2、ystem,namely,theReconfigurableModularManipulatorSystem(RMMS)Robotmanipulatorscanbeeasilyreprogrammedtoperformdifferenttasks,yettherangeoftasksthatcanbeperformedbyamanipulatorislimitedbymechanicalstructure.Forexample,amanipulatorwell-suitedforprecisemovementacrossthetopofatablewouldprobablynobecapabl
3、eofliftingtheverticaldirection.Therefore,toperformagiventask,oneneedstochooseamanipulatorwithanappropriatemechanicalstructure.Weproposetheconceptofarapidlydeployablemanipulatorsystemtoaddresstheabovementionedshortcomingsoffixedconfigurationmanipulators.AsisillustratedinFigure1,arapidlydeployablemani
4、pulatorsystemconsistsofsoftwareandtask.ThecentralbuildingblockofarapidlydeployablesystemisaReconfigurableModularManipulatorSystem(RMMS).TheRMMSutilizesastockofinterchangeablelinkandjointmodulesofvarioussizesandperformancespecifications.OnesuchmoduleisshowninFigure2.Bycombiningthesegeneralpurposemodu
5、les,awiderangeofspecialpurposemanipulatorscanbeassembled.Recently,thereconsiderableinterestintheideaofmodularmanipulators2,4,5,7,9,10,14,forresearchapplicationsaswellasforindustrialapplications.However,mostofthesesystemslackthepropertyofreconfigurability,whichiskeytotheconceptofrapidlydeployablesyst
6、ems.TheRMMSisparticularlyeasytoreconfigurethankstoitsintegratedquick-couplingconnectorsdescribedinSection3.EffectiveuseoftheRMMSrequires,TaskBasedDesignsoftware.Thissoftwaretakesasinputdescriptionsofthetaskandoftheavailablemanipulatormodules;itgeneratesasoutputamodularassemblyconfigurationoptimallys
7、uitedtoperformthegiventask.Severaldifferentapproachesusedsuccessfullytosolvesimpli-fiedinstancesofthiscomplicatedproblem.Athirdimportantbuildingblockofarapidlydeployablemanipulatorsystemisaframeworkforthegenerationofcontrolsoftware.Toreducethecomplexityofsoftwaregenerationforreal-timesensor-basedcon
8、trolsystems,asoftwareparadigmcalledsoftwareassemblyproposedintheAdvancedManipulatorsLaboratoryatCMU.Thisparadigmcombinestheconceptofreusableandreconfigurablesoftwarecomponents,asissupportedbytheChimerareal-timeoperatingsystem15,withagraphicaluserinterfaceandavisualprogramminglanguage,implementedinOn
9、ikaAlthoughthesoftwareassemblyparadigmprovidesthesoftwareinfrastructureforrapidlyprogrammingmanipulatorsystems,itdoesnotsolvetheprogrammingproblemitself.Explicitprogrammingofsensor-basedmanipulatorsystemsiscumbersomeduetotheextensiveamountofdetailwhichmustbespecifiedfortherobottoperformthetask.Theso
10、ftwaresynthesisproblemforsensor-basedrobotscanbesimplifieddramatically,byprovidingrobustroboticskills,thatis,encapsulatedstrategiesforaccomplishingcommontasksintherobotstaskdomain11.Suchroboticskillscanthenbeusedatthetasklevelplanningstagewithoutexampleoftheuseofarapidlydeployablesystem,consideraman
11、ipulatorinanuclearenvironmentwhereitmustinspectmaterialandspaceforradioactivecontamination,orassembleandrepairequipment.Insuchanenvironment,widelyvariedkinematic(e.g.,workspace)anddynamic(e.g.,speed,payload)performanceisrequired,andtheserequirementsmaynotbeknownapriori.Insteadofpreparingalargesetofd
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