完整版机械手类毕业设计外文文献翻译.docx

完整版机械手类毕业设计外文文献翻译.docx

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完整版机械手类毕业设计外文文献翻译

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2013年03月

附件一：

ARapidlyDeployableManipulatorSystem

ChristiaanJ.J.Paredis,H.BenjaminBrown,PradeepK.Khosla

Abstract:

Arapidlydeployablemanipulatorsystemcombinestheflexibilityofreconfigurablemodulartask.Thisarticledescribestwomainaspectsofsuchasystem,namely,theReconfigurableModularManipulatorSystem（RMMS）

Robotmanipulatorscanbeeasilyreprogrammedtoperformdifferenttasks,yettherangeoftasksthatcanbeperformedbyamanipulatorislimitedbymechanicalstructure.Forexample,amanipulatorwell-suitedforprecisemovementacrossthetopofatablewouldprobablynobecapableofliftingtheverticaldirection.Therefore,toperformagiventask,oneneedstochooseamanipulatorwithanappropriatemechanicalstructure.

Weproposetheconceptofarapidlydeployablemanipulatorsystemtoaddresstheabovementionedshortcomingsoffixedconfigurationmanipulators.AsisillustratedinFigure1,arapidlydeployablemanipulatorsystemconsistsofsoftwareandtask.

ThecentralbuildingblockofarapidlydeployablesystemisaReconfigurableModularManipulatorSystem（RMMS）.TheRMMSutilizesastockofinterchangeablelinkandjointmodulesofvarioussizesandperformancespecifications.OnesuchmoduleisshowninFigure2.Bycombiningthesegeneralpurposemodules,awiderangeofspecialpurposemanipulatorscanbeassembled.Recently,thereconsiderableinterestintheideaofmodularmanipulators[2,4,5,7,9,10,14],forresearchapplicationsaswellasforindustrialapplications.However,mostofthesesystemslackthepropertyofreconfigurability,whichiskeytotheconceptofrapidlydeployablesystems.TheRMMSisparticularlyeasytoreconfigurethankstoitsintegratedquick-couplingconnectorsdescribedinSection3.

EffectiveuseoftheRMMSrequires,TaskBasedDesignsoftware.Thissoftwaretakesasinputdescriptionsofthetaskandoftheavailablemanipulatormodules;itgeneratesasoutputamodularassemblyconfigurationoptimallysuitedtoperformthegiventask.Severaldifferentapproachesusedsuccessfullytosolvesimpli-fiedinstancesofthiscomplicatedproblem.

Athirdimportantbuildingblockofarapidlydeployablemanipulatorsystemisaframeworkforthegenerationofcontrolsoftware.Toreducethecomplexityofsoftwaregenerationforreal-timesensor-basedcontrolsystems,asoftwareparadigmcalledsoftwareassemblyproposedintheAdvancedManipulatorsLaboratoryatCMU.Thisparadigmcombinestheconceptofreusableandreconfigurablesoftwarecomponents,asissupportedbytheChimerareal-timeoperatingsystem[15],withagraphicaluserinterfaceandavisualprogramminglanguage,implementedinOnika

Althoughthesoftwareassemblyparadigmprovidesthesoftwareinfrastructureforrapidlyprogrammingmanipulatorsystems,itdoesnotsolvetheprogrammingproblemitself.Explicitprogrammingofsensor-basedmanipulatorsystemsiscumbersomeduetotheextensiveamountofdetailwhichmustbespecifiedfortherobottoperformthetask.Thesoftwaresynthesisproblemforsensor-basedrobotscanbesimplifieddramatically,byprovidingrobustroboticskills,thatis,encapsulatedstrategiesforaccomplishingcommontasksintherobotstaskdomain[11].Suchroboticskillscanthenbeusedatthetasklevelplanningstagewithoutexampleoftheuseofarapidlydeployablesystem,consideramanipulatorinanuclearenvironmentwhereitmustinspectmaterialandspaceforradioactivecontamination,orassembleandrepairequipment.Insuchanenvironment,widelyvariedkinematic（e.g.,workspace）anddynamic（e.g.,speed,payload）performanceisrequired,andtheserequirementsmaynotbeknownapriori.Insteadofpreparingalargesetofdifferentmanipulatorstoaccomplishthesetasks—anexpensivesolution—onecanusearapidlydeployablemanipulatorsystem.Considerthefollowingscenario:

assoonasaspecifictaskisidentified,thetaskbaseddesignsoftwaredeterminesthetask.ThisoptimalconfigurationisthenassembledfromtheRMMSmodulesbyaor,inthefuture,possiblybyanothermanipulator.Theresultingmanipulatorisrapidlyprogrammedbyusingthesoftwareassemblyparadigmandourlibraryofroboticskills.Finally,themanipulatorisdeployedtoperformitstask.

Althoughsuchascenarioisstillfuturistic,thedevelopmentofthereconfigurablemodularmanipulatorsystem,describedinthispaper,isamajorstepforwardtowardsourgoalofarapidlydeployablemanipulatorsystem.

Ourapproachcouldformthebasisforthenextgenerationofautonomousmanipulators,inwhichthetraditionalnotionofsensor-basedautonomyisextendedtoconfiguration-basedautonomy.Indeed,althoughadeployedsystemcanitneeds,itmaystillnotbeabletoaccomplishitstaskbecausethetaskisbeyondthesystem’sphysicalcapabilities.Arapidlydeployablesystem,ontheothertaskspecificationsand,withadvancedsensing,control,andplanningstrategies,accomplishthetaskautonomously.

2Designofself-containedmostindustrialmanipulators,thecontrollerisaseparateuniteachofthejointsofthemanipulator.Thelargenumberofelectricalconnectionsandthenon-extensiblenatureofsuchasystemlayoutmakeitinfeasibleformodularmanipulators.Thesolutionweproposeistodistributethecontrolbecomeself-containedunitswhichincludesensors,anactuator,abrake,atransmission,asensorinterface,amotoramplifier,andacommunicationinterface,asisillustratedinFigure3.Asaresult,onlysixwiresarerequiredforpowerdistributionanddatacommunication.

2.1Mechanicaldesign

ThegoaloftheRMMSprojectistoinFigure2）,andonerotatejointmodule.ThebasemoduleandthelinkmoduleofthejointmodulescompactlyfitsaDC-motor,afail-safebrake,atachometer,a-lineconfigurationrespectively,butareidenticalinternally.Figure4showsincross-sectiontheinternalstructureofapivotjoint.EachjointmoduleincludesaDCtorquemotorand100:

1

Thecustom-designedon-boardelectronicsarealsodesignedaccordingtotheprincipleofmodularity.EachRMMSmodulecontainsamotherboardwhichprovidesthebasicfunctionalityandontowhichdaughtercardscanbestackedtoaddmodulespecificfunctionality.

ThemotherboardconsistsofaSiemens80C166microcontroller,64KofROM,64KofRAM,anSMCCOM20020universallocalareanetworkcontrollerwithanRS-485driver,andanRS-232driver.ThefunctionofthemotherboardistoestablishcommunicationwiththeRS-485busandtoperformthelowlevelcontrolofthemodule,asisexplainedinmoredetailinSection4.TheRS-232serialbusdriverallowsforsimplediagnosticsandsoftwareprototyping.

Astackingconnectorpermitstheadditionofanindefinitenumberofdaughtercardswithvariousfunctions,suchassensorinterfaces,motorcontrollers,RAMexpansionetc.Inourcurrentimplementation,onlymoduleswithactuatorsincludeadaughtercard.Thiscardcontainsa16bitresolvertodigitalconverter,a12bitADconvertertointerfacewiththetachometer,anda12bitDAconvertertocontrolthemotoramplifier;weofthe-shelfmotoramplifier（GalilMotionControlmodelSSA-880）todrivetheDC-motor.Formoduleswithmorethanonedegree-of-freedom,forinstanceawristmodule,morethanonesuchdaughtercardcanbestackedontothesamemotherboard.

3Integratedquick-couplingconnectors

Tomakeamodularmanipulatorbereconfigurable,itisnecessarythatthemodulescanbeeasilyconnectedwitheachother.WebetweenmodulescanbeachievedbysimplyturningaringinFigure5,keyedflangesprovidepreciseregistrationofthetwomodules.Turningofthelockingcollaronthemaleendproducestwodistinctmotions:

firstthefingersofthelockingringrotate（withthecollar）about22.5degreesandcapturethefingersontheflanges;second,thecollarrotatesrelativetothelockingring,whileacammechanismforcesthefingersinwardtosecurelygripthematingflanges.Aball-transfermechanismbetweenthecollarandlockingringautomaticallyproducesthissequenceofmotions.

Atthesametimethemechanicalconnectionismade,pneumaticandelectronicconnectionsarealsoestablished.Insidethelockingringisamodularconnectorthatthemiddle.Thesecorrespondtomatchingfemalecomponentsonthematingconnector.Setsofpinsarewiredinparalleltocarrythe72V-25Apowerformotorsandbrakes,and48V–6Apowerfortheelectronics.AdditionalpinscarrysignalsfortwoRS-485serialcommunicationbussesandfourvideobusses.Aplasticguidecollarplussixalignmentpinspreventdamagetotheconnectorpinsandassureproperalignment.TheplasticblockrotateintheorientationsLEDinthefemaleconnectorandeightphotodetectorsinthemaleconnector.

4ARMbuscommunicationsystem

EachofthemodulesoftheRMMScommunicateswithaVME-basedisdoneinaserialfashionoveranRS-485buswhichrunsthroughthelengthofthemanipulator.WeusetheARCNETprotocol[1]implementedonadedicatedIC（SMCCOM20020）.ARCNETisadeterministictoken-passingnetworkschemewhichavoidsnetworkcollisionsandguaranteeseachnodeitstimetoaccessthenetwork.Blocksofinformationcalledpacketsmaybesentfromanynodeonthenetworktoanyoneoftheothernodes,ortoallnodessimultaneously（broadcast）.Eachnodemaysendonepacketeachtimeitgetsthetoken.Themaximumnetworkthroughputis5Mbs.

ThefirstnodeofthenetworkresidesontheFigure6.InadditiontoaVMEaddressdecoder,thiscardcontainsessentiallythesamefindonamodulemotherboard.ThecommunicationbetweentheVMEsideofthecardandtheARCNETsideoccursthrough