完整版机械手类毕业设计外文文献翻译.docx

1、完整版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：A Rapidly Deployable Manipulator SystemChristiaan J.J. Paredis, H. Benjamin Brown, Pradeep K. KhoslaAbstract: A rapidly deployable manipulator system combines the flexibility of reconfigurable modular task. T

2、his article describes two main aspects of such a system, namely, the Reconfigurable Modular Manipulator System (RMMS)Robot manipulators can be easily reprogrammed to perform different tasks, yet the range of tasks that can be performed by a manipulator is limited by mechanicalstructure.Forexample, a

3、 manipulator well-suited for precise movement across the top of a table would probably no be capable of lifting the vertical direction. Therefore, to perform a given task,one needs to choose a manipulator with an appropriate mechanical structure. We propose the concept of a rapidly deployable manipu

4、lator system to address the above mentioned shortcomings of fixed configuration manipulators. As is illustrated in Figure 1, a rapidly deployable manipulator system consists of software and task. The central building block of a rapidly deployable system is a Reconfigurable Modular Manipulator System

5、 (RMMS). The RMMS utilizes a stock of interchangeable link and joint modules of various sizes and performance specifications. One such module is shown in Figure 2. By combining these general purpose modules, a wide range of special purpose manipulators can be assembled. Recently, there considerable

6、interest in the idea of modular manipulators 2, 4, 5, 7, 9, 10, 14, for research applications as well as for industrial applications. However, most of these systems lack the property of reconfigurability, which is key to the concept of rapidly deployable systems. The RMMS is particularly easy to rec

7、onfigure thanks to its integrated quick-coupling connectors described in Section 3.Effective use of the RMMS requires, Task Based Design software. This software takes as input descriptions of the task and of the available manipulator modules; it generates as output a modular assembly configuration o

8、ptimally suited to perform the given task. Several different approaches used successfully to solve simpli-fied instances of this complicated problem. A third important building block of a rapidly deployable manipulator system is a framework for the generation of control software. To reduce the compl

9、exity of softwaregeneration for real-time sensor-based control systems, a software paradigm called software assembly proposed in the Advanced Manipulators Laboratory at CMU.This paradigm combines the concept of reusable and reconfigurable software components, as is supported by the Chimera real-time

10、 operating system 15, with a graphical user interface and a visual programming language, implemented in OnikaAlthough the software assembly paradigm provides thesoftware infrastructure for rapidly programming manipulator systems, it does not solve the programming problem itself. Explicit programming

11、 of sensor-based manipulator systems is cumbersome due to the extensive amount of detail which must be specified for the robot to perform the task. The software synthesis problem for sensor-based robots can be simplified dramatically, by providing robust robotic skills, that is, encapsulated strateg

12、ies for accomplishing common tasks in the robots task domain 11. Such robotic skills can then be used at the task level planning stage without example of the use of a rapidly deployable system,consider a manipulator in a nuclear environment where it must inspect material and space for radioactive co

13、ntamination, or assemble and repair equipment. In such an environment, widely varied kinematic (e.g., workspace) and dynamic (e.g., speed, payload) performance is required, and these requirements may not be known a priori. Instead of preparing a large set of different manipulators to accomplish thes

14、e tasksan expensive solutionone can use a rapidly deployable manipulator system. Consider the following scenario: as soon as a specific task is identified, the task based design software determinesthe task. This optimal configuration is thenassembled from the RMMS modules by a or, in the future, pos

15、sibly by another manipulator. The resulting manipulator is rapidly programmed by using the software assembly paradigm and our library of robotic skills. Finally,the manipulator is deployed to perform its task.Although such a scenario is still futuristic, the development of the reconfigurable modular

16、 manipulator system, described in this paper, is a major step forward towards our goal of a rapidly deployable manipulator system.Our approach could form the basis for the next generation of autonomous manipulators, in which the traditional notion of sensor-based autonomy is extended to configuratio

17、n-based autonomy. Indeed, although a deployed system can it needs, it may still not be able to accomplish its task because the task is beyond the systems physical capabilities. A rapidly deployable system, on the other task specifications and, with advanced sensing, control, and planning strategies,

18、 accomplish the task autonomously.2 Design of self-contained most industrial manipulators, the controller is a separate unit each of the joints of the manipulator. The large number of electrical connections and the non-extensible nature of such a system layout make it infeasible for modular manipula

19、tors. The solution we propose is to distribute the control become self-contained units which include sensors, an actuator, a brake, a transmission, a sensor interface, a motor amplifier, and a communication interface, as is illustrated in Figure 3. As a result, only six wires are required for power

20、distribution and data communication.2.1 Mechanical designThe goal of the RMMS project is to in Figure 2), and one rotate joint module. The base module and the link module of the joint modules compactly fits a DC-motor, a fail-safe brake, a tachometer, a -line configuration respectively, but are iden

21、tical internally. Figure 4 shows in cross-section the internal structure of a pivot joint. Each joint module includes a DC torque motor and 100:1 The custom-designed on-board electronics are also designed according to the principle of modularity. Each RMMS module contains a motherboard which provide

22、s the basic functionality and onto which daughtercards can be stacked to add module specific functionality.The motherboard consists of a Siemens 80C166 microcontroller, 64K of ROM, 64K of RAM, an SMC COM20020 universal local area network controller with an RS-485 driver, and an RS-232 driver. The fu

23、nction of the motherboard is to establish communication with the RS-485 bus and to perform the lowlevel control of the module, as is explained in more detail in Section 4. The RS-232 serial bus driver allows for simple diagnostics and software prototyping.A stacking connector permits the addition of

24、 an indefinite number of daughtercards with various functions, such as sensor interfaces, motor controllers, RAM expansion etc. In our current implementation, only modules with actuators include a daughtercard. This card contains a 16 bit resolver to digital converter, a 12 bit AD converter to inter

25、face with the tachometer, and a 12 bit DA converter to control the motor amplifier; we ofthe-shelf motor amplifier (Galil Motion Control model SSA-880) to drive the DC-motor. For modules with more than one degree-of-freedom, for instance a wrist module, more than one such daughtercard can be stacked

26、 onto the same motherboard.3 Integrated quick-coupling connectorsTo make a modular manipulator be reconfigurable, it is necessary that the modules can be easily connected with each other. We between modules can be achieved by simply turning a ring in Figure 5, keyed flanges provide precise registrat

27、ion of the two modules. Turning of the locking collar on the male end produces two distinct motions: first the fingers of the locking ring rotate (with the collar) about 22.5 degrees and capture the fingers on the flanges; second, the collar rotates relative to the locking ring, while a cam mechanis

28、m forces the fingers inward to securely grip the mating flanges. A ball- transfer mechanism between the collar and locking ring automatically produces this sequence of motions.At the same time the mechanical connection is made,pneumatic and electronic connections are also established. Inside the loc

29、king ring is a modular connector that the middle. These correspond to matching female components on the mating connector. Sets of pins are wired in parallel to carry the 72V-25A power for motors and brakes, and 48V6A power for the electronics. Additional pins carry signals for two RS-485 serial comm

30、unication busses and four video busses. A plastic guide collar plus six alignment pins prevent damage to the connector pins and assure proper alignment. The plastic block rotate in the orientations LED in the female connector and eight photodetectors in the male connector.4 ARMbus communication syst

31、emEach of the modules of the RMMS communicates with a VME-based is done in a serial fashion over an RS-485 bus which runs through the length of the manipulator. We use the ARCNET protocol 1 implemented on a dedicated IC (SMC COM20020). ARCNET is a deterministic token-passing network scheme which avo

32、ids network collisions and guarantees each node its time to access the network. Blocks of information called packets may be sent from any node on the network to any one of the other nodes, or to all nodes simultaneously (broadcast). Each node may send one packet each time it gets the token. The maximum network throughput is 5Mbs.The first node of the network resides on the Figure 6. In addition to a VME address decoder, this card contains essentially the same find on a module motherboard. The communication between the VME side of the card and the ARCNET side occurs through