簡介：畢業(yè)設(shè)計畢業(yè)設(shè)計論文論文外文資料翻譯外文資料翻譯原文題目目MICROTHREADINGINWHIRLING原文來源源ASME美國機械工程師學(xué)會期刊學(xué)生姓名名馬鑫學(xué)號號231120522所在院所在院系部部工業(yè)中心工業(yè)中心專業(yè)名稱稱機械設(shè)計制造及其自動化圖1螺紋旋轉(zhuǎn)圖2MICROWHIRLING機床在切削參數(shù)切削厚度。這個切削厚度進行驗證其效果的螺紋薄絲旋風(fēng)。旋轉(zhuǎn)旋轉(zhuǎn)旋轉(zhuǎn)是應(yīng)用于機械螺絲的組合工具和工件的旋轉(zhuǎn)，如圖1所示。切割工具固定在旋轉(zhuǎn)環(huán)上的半徑，以及環(huán)的旋轉(zhuǎn)在角速度XT。隨著工件半徑RW在與在旋轉(zhuǎn)環(huán)旋轉(zhuǎn)角速度XW偏心電子控制著切割的深度。在旋轉(zhuǎn)的在低轉(zhuǎn)速下旋轉(zhuǎn)工件被切割切割邊旋轉(zhuǎn)的高轉(zhuǎn)速。螺絲的鉛由旋轉(zhuǎn)環(huán)的傾斜和進給速度控制關(guān)于工件軸。在車削一個小直徑的工件時，切削速度受到限制要低的最大限度的主軸轉(zhuǎn)速，作為結(jié)果，表面光潔度變差。在旋轉(zhuǎn)，切割速度是由旋轉(zhuǎn)半徑和旋轉(zhuǎn)控制在旋轉(zhuǎn)環(huán)的切削工具率XT。因此，表面可以在一個細的電線上完成，即使是高的切削速度雖然最大主軸速度是有限的。因為工具和工件旋轉(zhuǎn)偏心中心，切削和旋轉(zhuǎn)軸工件空心電動機Y軸空心電動機刀具

簡介：南京工程學(xué)院南京工程學(xué)院畢業(yè)設(shè)計畢業(yè)設(shè)計論文論文外文資料翻譯外文資料翻譯原文題目目PSEUDOPOLARBASEDESTIMATIONOFLARGETRANSLATIONSROTATIONSANDSCALINGSINIMAGES原文來源源SIAMJOURNALONIMAGINGSCIENCES,2009,22614645學(xué)生姓名名黃小飛學(xué)號號201080418所在院所在院系部部機械工程學(xué)院專業(yè)名稱稱機械電子工程2之前基于FFT的圖像配準(zhǔn)的結(jié)果。實驗結(jié)果在第4節(jié)進行了討論，最后的結(jié)論是在第5節(jié)。2前相關(guān)工作前相關(guān)工作21變換估算傅立葉基于運動估算的基礎(chǔ)上的，是旋轉(zhuǎn)特性的傅立葉變換，表示由（1）??,?,YXWWFYXF???傅里葉變換的，然后，（2）????????EFEWWYYXXFYYWXXWJYX?????????,,?公式（2）可用于圖像的平移的估算，假設(shè)圖像I1（X，Y）和I2（X，Y）一些重疊，（3）????YXYYXX,,21????????方程（3）是傅里葉變換，使（4）??????YXYWXWJYXWWWWEYX,2,1????????和（5）??????EWWIWWIYWXWJYXYXYX??????,,12因此，轉(zhuǎn)換參數(shù)（）可以在空間域的EQ5采取逆FFT估計YX??,（6）????????YYXXEYXCORRYWXWJYX????????,,1??和通過相關(guān)函數(shù)CORR（X，Y）來尋找最大值的位置（7）???????????????????YXCORRYXYX,MAX,ARG為了補償可能誤差強度式5改寫為（8）??????????EFFFFWWCORRYWXWJYXYXYXYXYXWWWWWWWWYX??????,,2,1,2,1,

簡介：徐州工程學(xué)院畢業(yè)設(shè)計外文翻譯學(xué)生姓名學(xué)院名稱專業(yè)名稱指導(dǎo)教師20年5月27日ASKILLBASEDMICROMANIPULATIONSYSTEMHASBEENDEVELOPEDINTHEAUTHORS’LAB,ANDITCANREALIZEMANYMICROMANIPULATIONOPERATIONSINTHESYSTEM,THEASSEMBLYTASKISMANUALLYDISCOMPOSEDINTOSKILLSEQUENCESANDCOMPILEDINTOAFILEAFTERIMPORTINGTHEFILEINTOTHESYSTEM,THESYSTEMCANAUTOMATICALLYEXECUTETHEASSEMBLYTASKTHISPAPERATTEMPTSTOEXPLOREAUSERFRIENDLY,ANDATTHESAMETIMEEASY,SEQUENCEGENERATIONMETHOD,TORELIEVETHEBURDENOFMANUALLYPROGRAMMINGTHESKILLSEQUENCEITISANEFFECTIVEMETHODTODETERMINETHEASSEMBLYSEQUENCEFROMGEOMETRICCOMPUTERAIDEDDESIGNCADMODELSMANYAPPROACHESHAVEBEENPROPOSEDTHISPAPERAPPLIESASIMPLEAPPROACHTOGENERATETHEASSEMBLYSEQUENCEITISNOTINVOLVEDWITHTHELOWLEVELDATASTRUCTUREOFTHECADMODEL,ANDCANBEREALIZEDWITHTHEAPPLICATIONPROGRAMMINGINTERFACEAPIFUNCTIONSTHATMANYCOMMERCIALCADSOFTWAREPACKAGESPROVIDEINTHEPROPOSEDAPPROACH,ARELATIONSGRAPHAMONGDIFFERENTCOMPONENTSISFIRSTCONSTRUCTEDBYANALYZINGTHEASSEMBLYMODEL,ANDTHEN,POSSIBLESEQUENCESARESEARCHED,BASEDONTHEGRAPHACCORDINGTOCERTAINCRITERION,THEOPTIMALSEQUENCEISFINALLYOBTAINEDTODECOMPOSETHEASSEMBLYSEQUENCEINTOROBOTSKILLSEQUENCES,SOMEWORKSHAVEBEENREPORTEDINNNAJIETAL’SWORK,THEASSEMBLYTASKCOMMANDSAREEXPANDEDTOMOREDETAILEDCOMMANDS,WHICHCANBESEENASROBOTSKILLS,ACCORDINGTOAPREDEFINEDFORMATTHEDECOMPOSITIONAPPROACHOFMOSEMANNANDWAHLISBASEDONTHEANALYSISOFHYPERARCSOFAND/ORGRAPHSREPRESENTINGTHEAUTOMATICALLYGENERATEDASSEMBLYPLANSTHISPAPERPROPOSESAMETHODTOGUIDETHESKILLDECOMPOSITIONTHEASSEMBLYPROCESSESOFPARTSAREGROUPEDINTODIFFERENTPHASES,ANDPARTSAREATDIFFERENTSTATESSPECIFICWORKFLOWSPUSHFORWARDPARTSFROMONESTATETOANOTHERSTATEEACHWORKFLOWISASSOCIATEDWITHASKILLGENERATORACCORDINGTOTHEDIFFERENTSTARTSTATEANDTARGETSTATEOFTHEWORKFLOW,THESKILLGENERATORCREATESASERIESOFSKILLSTHATCANPROMOTETHEPARTTOITSTARGETSTATETHEHIERARCHYOFTHESYSTEMPROPOSEDHERE,THEASSEMBLYINFORMATIONONHOWTOASSEMBLEAPRODUCTISTRANSFERREDTOTHEROBOTTHROUGHMULTIPLELAYERSTHETOPLAYERISFORTHEASSEMBLYTASKPLANNINGTHEINFORMATIONNEEDEDFORTHETASKPLANNINGANDSKILLGENERATIONAREEXTRACTEDFROMTHECADMODELANDARESAVEDINTHEDATABASEBASEDONTHECADMODEL,THEASSEMBLYTASKSEQUENCESAREGENERATEDATTHESKILLDECOMPOSITIONLAYER,TASKSAREDECOMPOSEDINTOSKILLSEQUENCESTHEGENERATEDSKILLSAREMANAGEDANDEXECUTEDATTHEROBOTCONTROLLAYER2TASKPLANNINGSKILLSARENOTUSEDDIRECTLYATTHEASSEMBLYPLANNINGPHASEINSTEAD,THECONCEPTOFATASKIS

簡介：MATLABBASEDINTERACTIVESIMULATIONPROGRAMFOR2DMULTISEGMENTMECHANICALSYSTEMSHENRYKJOSI?SKI1,2,ADAM?WITO?SKI1,2,KAROLJ?DRASIAK1,ANDRZEJPOLA?SKI1,2,ANDKONRADWOJCIECHOWSKI1,21POLISHJAPANESEINSTITUTEOFINFORMATIONTECHNOLOGYALEJALEGIONóW241902BYTOM,POLAND{HJOSINSKI,ASWITONSKI,KJEDRASIAK,APOLANSKI,KWOJCIECHOWSKI}PJWSTKEDUPL2SILESIANUNIVERSITYOFTECHNOLOGYAKADEMICKA1644100GLIWICE,POLAND{HENRYKJOSINSKIADAMSWITONSKIANDRZEJPOLANSKIKONRADWOJCIECHOWSKI}POLSLPLABSTRACTTHISPAPERPRESENTSPRINCIPLESOFDESIGNINGMULTISEGMENTMECHANICALSYSTEMREPRESENTEDISAMODELOFASINGLESEGMENT,ITSEXTENSIONINFORMOFACOUPLEOFSEGMENTSANDTHEFINALCONSTRUCTION–AFRAGMENTARYANDSIMPLIFIEDSILHOUETTEOFAHUMANFORMNAMEDTHEBIPEDTHISPAPERDESCRIBESPROCEDUREOFCONSTRUCTIONOFTHEBIPED’SDIGITALMODELUSINGMATLABPACKAGEITALSODISCUSSESTESTRUNOFASINGLEEXPERIMENTANDALGORITHMOFTHECALCULATIONSREALIZEDINTHESINGLESTEPOFINTEGRATION1INTRODUCTIONSCIENTISTSCREATEPHYSICALANDMATHEMATICALMODELSOFMOVEMENTOFAWHOLEHUMANFORMORITSSPECIFIEDPARTSMATHEMATICALMODELSENABLECREATIONOFDIGITALMODELSTOCONDUCTCOMPUTERSIMULATIONMODELTESTINGMAKESITPOSSIBLETOANALYSEDECOMPOSITIONOFFORCESANDTORQUESINANONINVASIVEWAYTHEPURPOSEOFTHISRESEARCHWASTOBUILDASIMPLEMULTISEGMENTMOVEMENTMODELINORDERTODETERMINETHEPRINCIPLESOFADDINGTHESUCCESSIVESEGMENTSANDHOWTOAVOIDTHEIRBREAKUPTHISISHOWTHESILHOUETTENAMEDBIPEDWASCREATEDITSDIGITALMODELCREATEDUSINGMATLABPACKAGESHOULDENABLETOCARRYOUTSIMULATIONOFTHEBIPED’SMOVEMENTLITERATURERELATEDTOTHISSUBJECTISEXTENSIVEANALYSISOFCONTENTSOFAMOVEMENTMODELWASINCLUDEDIN9THEDYNAMICSOFPLANARHUMANBODYMOTION,SOLVEDWITHANONITERATIVEMATRIXFORMULATIONWASPRESENTEDIN1WORTHMENTIONINGISALSOITEM3OFTHEBIBLIOGRAPHYWHEREBRUBAKERETALPROPOSEDAMODELBASEDONTHEANTHROPOMORPHICWALKER5,6,APHYSICSBASEDPLANARMODELWITHTWOSTRAIGHTLEGS,ASINGLETORSIONALSPRINGANDANIMPULSIVECOLLISIONMODELTHEANTHROPOMORPHICWALKERISSIMPLE,ASITONLYEXHIBITSHUMANLIKEGAITSONLEVELGROUNDBRUBAKERETAL2INTRODUCEDALSOTHEKNEEDWALKER–ACOMPLEXMODELOFBIPEDALLOCOMOTIONBASEDONBIOMECHANICALCHARACTERIZATIONSOFHUMANWALKING7ITHASATORSOANDTWOLEGSWITHKNEESANDANKLESITISCAPABLEOFEXHIBITINGAWIDERANGEOFPLAUSIBLEGAITSTYLESAMATHEMATICALMODELOFTHESWINGPHASEOFWALKINGWASPRESENTEDIN8MATLABBASEDINTERACTIVESIMULATIONPROGRAM3UPTODATESEGMENT’SENDS’COMPONENTSARECALCULATEDUSINGSIMPLETRIGONOMETRICEQUATIONSX1XLSINΦ2Y1Y?LCOSΦ24X2X?LSINΦ2Y2YLCOSΦ25DIFFERENTIATIONALLOWSTOCALCULATEVERTICALANDHORIZONTALCOMPONENTSOFSEGMENT’SENDS’VELOCITY˙X1˙X˙ΦLCOSΦ2˙Y1˙Y˙ΦLSINΦ26˙X2˙X?˙ΦLCOSΦ2˙Y2˙Y?˙ΦLSINΦ27SUCCESSIVEDIFFERENTIATIONLEADSTOFORMULAEDESCRIBINGSEGMENT’SENDS’ACCELERATION¨X1¨X¨ΦLCOSΦ2?˙Φ2LSINΦ2¨Y1¨Y¨ΦLSINΦ2˙Φ2LCOSΦ28¨X2¨X?¨ΦLCOSΦ2˙Φ2LSINΦ2¨Y2¨Y?¨ΦLSINΦ2?˙Φ2LCOSΦ29EQUATIONSDESCRIBINGSTATEOFTHESEGMENTALLOWTOFORMULATEGENERALRELATIONSHIPBETWEENACCELERATIONSOFTHESEGMENT’SENDSANDEXTERNALINFLUENCES–FORCESANDACONTROLTORQUEM????¨X1¨Y1¨X2¨Y2????MCOEF????????F1XF1YF2XF2YM1????????10SYMBOLMCOEFREPRESENTSCOEFFICIENTS’MATRIXDETERMINEDBYTHEFORMULAS8,9ALLOWINGFOREQUATIONS1,2,33MODELOFCOUPLEOFSEGMENTSMOVEMENTTHECASEOF2JOINEDSEGMENTSREQUIRESDOUBLINGOFTHESTATEVARIABLES’SETAPPLIEDFORTHECASEOFASINGLESEGMENTDECOMPOSITIONOFFORCESANDTORQUESISSHOWNONFIG2INDEXUDENOTESTHEUPPERSEGMENTWHEREASL–THELOWERONE

簡介：SHAFTINSTANTANEOUSANGULARSPEEDFORBLADEVIBRATIONINROTATINGMACHINEAHMEDAGUBRAN,JYOTIKSINHANSCHOOLOFMECHANICAL,AEROSPACEANDCIVILENGINEERINGMACE,THEUNIVERSITYOFMANCHESTER,SACKVILLESTREET,MANCHESTERM139PL,UKARTICLEINFOARTICLEHISTORYRECEIVED29JUNE2012RECEIVEDINREVISEDFORM19DECEMBER2012ACCEPTED3FEBRUARY2013AVAILABLEONLINE26MARCH2013KEYWORDSINSTANTANEOUSANGULARSPEEDIASBLADEVIBRATIONBLADEHEALTHMONITORINGBHMBLADEFAULTSSHAFTTORSIONALVIBRATIONORDERTRACKINGABSTRACTRELIABLEBLADEHEALTHMONITORINGBHMINROTATINGMACHINESLIKESTEAMTURBINESANDGASTURBINES,ISATOPICOFRESEARCHSINCEDECADESTOREDUCEMACHINEDOWNTIME,MAINTENANCECOSTSANDTOMAINTAINTHEOVERALLSAFETYTRANSVERSEBLADEVIBRATIONISOFTENTRANSMITTEDTOTHESHAFTASTORSIONALVIBRATIONTHESHAFTINSTANTANEOUSANGULARSPEEDIASISNOTHINGBUTTHEREPRESENTINGTHESHAFTTORSIONALVIBRATIONHENCETHESHAFTIASHASBEENEXTRACTEDFROMTHEMEASUREDENCODERDATADURINGMACHINERUNUPTOUNDERSTANDTHEBLADEVIBRATIONANDTOEXPLORETHEPOSSIBILITYOFRELIABLEASSESSMENTOFBLADEHEALTHANUMBEROFEXPERIMENTSONANEXPERIMENTALRIGWITHABLADEDDISKWERECONDUCTEDWITHHEALTHYBUTMISTUNEDBLADESANDWITHDIFFERENTFAULTSSIMULATIONINTHEBLADESTHEMEASUREDSHAFTTORSIONALVIBRATIONSHOWSADISTINCTDIFFERENCEBETWEENTHEHEALTHYANDTHEFAULTYBLADECONDITIONSHENCE,THEOBSERVATIONSAREUSEFULFORTHEBHMINFUTURETHEPAPERPRESENTSTHEEXPERIMENTALSETUP,SIMULATIONOFBLADEFAULTS,EXPERIMENTSCONDUCTED,OBSERVATIONSANDRESULTSFAXT441613064601EMAILADDRESSESAHMEDGUBRANPOSTGRADMANCHESTERACUK,AHMEDGURBAN1GMAILCOMAAGUBRAN,JYOTISINHAMANCHESTERACUKJKSINHAMECHANICALSYSTEMSANDSIGNALPROCESSING44201447–59ITISALSOASSUMEDTHATTHETIMEINTERVALFORNTHTOOTHISMEASUREDATTHETIME,TNASTN?TNTTNT12D2TWHEREN?1,2,3,4,5,Y,NNUMBEROFTEETHINTHEGEAROFTHEENCODERIITHEANGULARDISPLACEMENTDYFORTHEEACHEQUALLYSPACEDTOOTHINTHEGEARWHEELOFTHEENCODERCANBEWRITTENASDY?3601N?2PND3TIIIHENCETHEINSTANTANEOUSANGULARSPEEDIASATTIME,TNINTERMSOFREVOLUTIONPERSECONDRPSCANBECALCULATEDASINSTANTANEOUSANGULARSPEEDDIASTDFSNTATDTNT?DYDDTN2PTD4TTHEEXTRACTEDIASSIGNALFROMTHEMEASUREDPULSETRAINFROMANENCODERMAYLOOKASSHOWNINFIG2IFTHESHAFTISROTATINGATACONSTANTSPEEDITISEXPECTEDTOBETHEIDEALCASEWHENTHEREISNOFLUCTUATIONINTHESPEEDDURINGTHESHAFTROTATIONAND/ORNOSHAFTTORISONALVIBRATIONIE,DT1?DT2?DT3?????DTNHOWEVERINREALITYTHESETIMEINTERVALS,DTN,MAYNOTBEALWAYSCONSTANTDUETOTHESPEEDFLUCTUATIONAND/ORDUETOTHEPRESENCEOFSHAFTTORSIONALVIBRATIONANDCANBEPRESENTEDASFIG3THETIMEVECTORS,TNANDCORRESPONDINGIAS,FNSMAYNOTBEATTHEEQUALTIMEINTERVAL,HENCETHEDATAARERESAMPLEDWITHAUNIFORMTIMEINTERVALBEFOREFURTHERSIGNALPROCESSING3EXPERIMENTALSETUPINORDERTOINVESTIGATETHEFEASIBILITYOFTORSIONALVIBRATIONMEASUREMENTTECHNOLOGYFORINCIPIENTBLADEDETERIORATION,ANEXPERIMENTALTESTRIGWASBUILTINTHEDYNAMICSLABATTHESCHOOLOFMACEATTHEUNIVERSITYOFMANCHESTERFORTHISSTUDYTHETESTRIGMAINLYCONSISTSOFA1HP3PHASEMOTOR,BTWOSKFTYPEYS20TF,BALLBEARINGS,CASTEELSHAFTOFDIAMETER20MM,DABLADEDDISCWITHEIGHTRECTANGULARBLADES,ANDEAFLEXIBLECOUPLINGBETWEENTHEMOTORSHAFTANDTHEROTATINGRIGSHAFTTHESCHEMATICOFRIGWITHTHEINSTRUMENTSISSHOWNINFIG4APHOTOGRAPHOFTHETESTRIGINCLUDINGTHEMEASUREMENTSYSTEMISALSOSHOWNINFIG5THEDIMENSIONSANDMATERIALPROPERTIESFORTHESHAFT–DISC–BLADESYSTEMARELISTEDINTABLE1THEPHOTOGRAPHSFORABLADEANDABLADEDDISCAREALSOSHOWNINFIG631INSTRUMENTATIONSFIGS4AND5ALSOSHOWTHEMOUNTINGOFTHEENCODERATTHEENDOFTHEROTORSHAFTANDTHEACCELEROMETERSONTHEBEARINGHOUSINGTHEMEASURINGSYSTEMCOMPOSEDOFONEROTARYSHAFTENCODER,KUBLER2400,WHICHGENERATE360PULSESPERREVOLUTIONATACHOSENSORMODELS51PA2A00NKRETROREFLECTIVEOPTICALSENSORWASUSEDTOMONITORROTATINGSPEEDFIG2IDEALISEDSHAFTIASSHOWINGCONSTANTSHAFTSPEEDWITHOUTTORSIONFIG3TYPICALSHAFTIASSHOWINGTHEPOSSIBILITYOFTHESHAFTTORSIONAAGUBRAN,JKSINHA/MECHANICALSYSTEMSANDSIGNALPROCESSING44201447–5949

簡介：NONLINEARDISTURBANCEOBSERVERDESIGNFORROBOTICMANIPULATORSAMOHAMMADIA,?,MTAVAKOLIB,??,HJMARQUEZB,FHASHEMZADEHB,AEDWARDSROGERSSRDEPARTMENTOFELECTRICALCOMPUTERENGINEERING,UNIVERSITYOFTORONTO,TORONTO,ONTARIO,CANADAM5S3G4BDEPARTMENTOFELECTRICALCOMPUTERENGINEERING,UNIVERSITYOFALBERTA,EDMONTON,ALBERTA,CANADAT6G2V4ABSTRACTROBOTICMANIPULATORSAREHIGHLYNONLINEARANDCOUPLEDSYSTEMSTHATARESUBJECTTODIFFERENTTYPESOFDISTURBANCESSUCHASJOINTFRICTIONS,UNKNOWNPAYLOADS,VARYINGCONTACTPOINTS,ANDUNMODELEDDYNAMICSTHESEDISTURBANCES,WHENUNACCOUNTEDFOR,ADVERSELYAFFECTTHEPERFORMANCEOFTHEMANIPULATOREMPLOYINGADISTURBANCEOBSERVERISACOMMONMETHODTOREJECTSUCHDISTURBANCESINADDITIONTODISTURBANCEREJECTION,DISTURBANCEOBSERVERSCANBEUSEDINFORCECONTROLAPPLICATIONSRECENTLY,RESEARCHHASBEENDONEREGARDINGTHEDESIGNOFNONLINEARDISTURBANCEOBSERVERSNLDOSFORROBOTICMANIPULATORSINSPITEOFGOODRESULTSINTERMSOFDISTURBANCETRACKING,THEPREVIOUSLYDESIGNEDNONLINEARDISTURBANCEOBSERVERSCANMERELYBEUSEDFORPLANARSERIALMANIPULATORSWITHREVOLUTEJOINTSCHEN,WH,BALLANCE,DJ,GAWTHORP,PJ,O’REILLY,J,2000ANONLINEARDISTURBANCEOBSERVERFORROBOTICMANIPULATORSIEEETRANSINDELECTRON47,932–938,NIKOOBIN,A,HAGHIGHI,R,2009LYAPUNOVBASEDNONLINEARDISTURBANCEOBSERVERFORSERIALNLINKMANIPULATORSJINTELLROBOTSYST55,135–153INTHISPAPER,AGENERALSYSTEMATICAPPROACHISPROPOSEDTOSOLVETHEDISTURBANCEOBSERVERDESIGNPROBLEMFORROBOTICMANIPULATORSWITHOUTRESTRICTIONSONTHENUMBEROFDEGREESOFFREEDOMDOFS,THETYPESOFJOINTS,ORTHEMANIPULATORCONFIGURATIONMOREOVER,THISDESIGNMETHODDOESNOTNEEDTHEEXACTDYNAMICMODELOFTHESERIALROBOTICMANIPULATORTHISMETHODALSO?CORRESPONDINGAUTHOR,TEL16479780140??PRINCIPALCORRESPONDINGAUTHOR,TEL17804928935,FAX17804921811EMAILADDRESSESALIREZAMOHAMMADIMAILUTORONTOCAAMOHAMMADI,MAHDITAVAKOLIUALBERTACAMTAVAKOLI,HMARQUEZUALBERTACAHJMARQUEZ,FARZADHASHEMZADEHUALBERTACAFHASHEMZADEHPREPRINTSUBMITTEDTOCONTROLENGINEERINGPRACTICEOCTOBER22,2012THISPAPERAPPEARSINCONTROLENGINEERINGPRACTICE,2012HTTP//DXDOIORG/101016/JCONENGPRAC201210008FIGURE1BLOCKDIAGRAMOFATYPICALDISTURBANCEOBSERVERINAROBOTICAPPLICATIONAPPLICATIONOFDISTURBANCEOBSERVERSISINIMPROVINGMANIPULATORTRACKINGPERFORMANCETHROUGHFRICTIONESTIMATIONANDCOMPENSATIONBONAANDINDRI,2005,SAWUTETAL,2001INMOHAMMADIETAL,2011A,THEAUTHORSPROPOSEDANONLINEARDISTURBANCEOBSERVERBASEDCONTROLLAWTHATGUARANTEEDASYMPTOTICTRAJECTORYANDDISTURBANCETRACKINGINTHEPRESENCEOFSLOWVARYINGDISTURBANCESONEIMPORTANTASPECTOFDISTURBANCEOBSERVERBASEDFRICTIONCOMPENSATIONSCHEMESISINTHATTHEYARENOTBASEDONANYPARTICULARFRICTIONMODELSBONAANDINDRI,2005DISTURBANCEOBSERVERSHAVERECENTLYBEENUSEDINTIMEDELAYEDBILATERALTELEOPERATIONINORDERTOIMPROVETHETRANSPARENCYOFTELEROBOTICSYSTEMSNATORIETAL,2010,NATORIETAL,2007ANDNATORIETAL,2006INTIMEDELAYEDTELEOPERATION,THEDELAYEDPOSITION/FORCESIGNALSARERECEIVEDFROMTHECOMMUNICATIONCHANNELINTHEMASTERANDTHESLAVESIDESTHETIMEDELAYEDPOSITION/FORCESIGNALSARETHENADDEDTOTHEOUTPUTOFTHEDISTURBANCEOBSERVERINORDERTOPROVIDETHEMASTERANDTHESLAVEROBOTSWITHESTIMATIONOFTHEUNDELAYEDVERSIONSOFTHEPOSITION/FORCESIGNALSANDTHUSIMPROVETHETELEOPERATIONSYSTEMTRANSPARENCYNATORIETAL,2010INMOHAMMADIETAL,2011B,THEAUTHORSIMPLEMENTEDAPAIROFNONLINEARDISTURBANCEOBSERVERSINA4CHANNELBILATERALTELEOPERATIONARCHITECTURETOACHIEVEFULLTRANSPARENCYINTHEABSENCEOFCOMMUNICATIONTIMEDELAYSINBOTHFREEANDCONSTRAINEDMOTIONSINTHATWORK,HOWEVER,THEAVAILABILITYOFJOINTACCELERATIONMEASUREMENTS,WHICHISNECESSARYFORACHIEVINGFULLTRANSPARENCY,SIMPLIFIEDDESIGNOFDISTURBANCEOBSERVERSBESIDESDISTURBANCEREJECTION,DISTURBANCEOBSERVERSHAVEFOUNDAPPLICATIONSINOTHERROBOTICSCONTEXTSINMANYROBOTICSAPPLICATIONS,THEROBOTENDEFFECTORCOMESINCONTACTWITHACOMPLIANTSURFACEANDAFORCECONTROLSCHEMEISNEEDEDTOGUARANTEEGOODSYSTEMPERFORMANCETHEREFORE,AFORCESENSORISNEEDEDTOMEASURETHESECONTACTFORCESDISTURBANCEOBSERVERS3

簡介：學(xué)號號機械設(shè)計課程設(shè)計機械設(shè)計課程設(shè)計題目熱處理車間清洗零件輸送設(shè)備的傳動裝置教學(xué)院機電工程學(xué)院專業(yè)機械設(shè)計制造及其自動化班級姓名指導(dǎo)教師指導(dǎo)教師年月日2123456VD計算過程及計算說明計算過程及計算說明一、傳動方案擬定第六組熱處理車間清洗零件輸送設(shè)備的傳動裝置工作條件該裝置單向傳送，載荷平穩(wěn)，空載起動，兩班制工作，使用期限5年（每年按300天計算），輸送帶速度容許誤差為±5。（1）原始數(shù)據(jù)滾筒直徑D380N；帶速V09M/S；滾筒軸轉(zhuǎn)矩T950NM。1電動機2V帶傳動3減速器4聯(lián)軸器5滾筒6輸送帶圖1清洗零件輸送設(shè)備的傳動裝置運動簡圖V09M/SD380MMT950NM

簡介：此文檔是畢業(yè)設(shè)計外文翻譯成品（含英文原文中文翻譯），無需調(diào)整復(fù)雜的格式下載之后直接可用，方便快捷本文價格不貴,也就幾十塊錢一輩子也就一次的事外文標(biāo)題DESIGNANDCONTROLOFAHIGHPERFORMANCESCARATYPEROBOTICARMWITHROTARYHYDRAULICACTUATORS外文作者MIGARAHLIYANAGE,NICHOLASKROUGLICOFANDRAYMONDGOSINE文獻出處2019CANADIANCONFERENCEONELECTRICALANDCOMPUTERENGINEERING如覺得年份太老，可改為近2年，畢竟很多畢業(yè)生都這樣做英文3502單詞，20544字符字符就是印刷符，中文5161漢字。（如果字數(shù)多了，可自行刪減，大多數(shù)學(xué)校都是要求選取外文的一部分內(nèi)容進行翻譯的。）DESIGNANDCONTROLOFAHIGHPERFORMANCESCARATYPEROBOTICARMWITHROTARYHYDRAULICACTUATORSABSTRACTTHISSTUDYPROPOSESASELECTIVECOMPLIANTASSEMBLYROBOTICARMSCARAWITHTWOREVOLUTEJOINTSFORPOULTRYDEBONINGTHEJOINTSOFTHEARMAREBASEDONTWOHIGHPERFORMANCEROTARYTYPEHYDRAULICACTUATORSTHESEACTUATORSAREOPERATEDBYSERVOVALVES,WHICHCONTROLHYDRAULICFLUIDFLOWANDDIRECTIONAPIDBASEDINDEPENDENTJOINTCONTROLSYSTEMISCONSIDEREDFORCONTROLLINGTHEPOSITIONOFEACHJOINTTHESYSTEMWASMODELLEDUSINGTHEMATLABSIMULINKTOOLBOXTHESIMULATIONRESULTSSHOWTHATTHEARMWASCAPABLEOFCOVERINGAWORKENVELOPEOF09MX09M,REACHINGCONTROLLEDVELOCITIESOFUPTO75M/SWITHANAVERAGEOF58M/SOBTAININGSUCHHIGHSPEEDSANDTORQUESWOULDBEADIFFICULTTASKWITHELECTRICALACTUATORSOFTHECAPACITYASTHEHYDRAULICCOUNTERPARTSCONSIDEREDHEREINDEXTERMSHYDRAULICROTARYACTUATORS,PIDCONTROL,SCARAARM,POULTRYDEBONING1INTRODUCTIONTRANSPORTSUPTO100PIECESOFPOULTRYPARTSPERMINUTEATASPEEDOF04M/SBEFORETHEPARTSREACHTHECUTTINGBLADE,ITSIMAGEISTAKENBYAXRAYCAMERAACOMPUTERWILLANALYZETHEIMAGEANDGENERATETHEDESIREDPOSITIONCOORDINATEPOSITIONX,Y,ZOFTHEBONETHISSTUDYPROPOSESASELECTIVECOMPLIANTASSEMBLYROBOTARMSCARAWITHTWOREVOLUTELINKSTOPOSITIONTHECUTTINGBLADEASSEMBLYWHICHINCLUDESANADDITIONALPRISMATICLINKFORDEBONINGTHETWOREVOLUTELINKSOFTHISROBOTARECONTROLLEDBYROTARYVAINSERVOHYDRAULICACTUATORSDIRECTLYFIXEDTOTHEJOINTSIEDIRECTDRIVETHECONTROLSYSTEMSOFTHETWOACTUATORSTHENPERFORMSPRECISEPOSITIONINGOFTHECUTTINGBLADEASSEMBLYTHEMOTIONGENERATEDBYTHISARMHASTOBEFAST,ACCURATE,SMOOTH,ANDNONOSCILLATORYAFTERTHEBLADEISMOVEDTOTHEDESIREDX,YPOSITIONINTHEHORIZONTALPLANE,ANACTUATORFIXEDTOTHEPRISMATICJOINTWILLBEACTIVATEDINTHEZDIRECTIONINORDERTOREMOVETHEBONETHEENDEFFECTORISCAPABLEOFCOVERINGANAREAOFAPPROXIMATELY09MX09MINTHISSTUDYWEPROPOSEAMODELFORTHEOPERATIONANDCONTROLOFASCARAROBOTWITHDOUBLEVANEROTARYTYPESERVOHYDRAULICACTUATORSTHEPROPOSEDSYSTEMWASSIMULATEDANDTHEPERFORMANCEWASEVALUATEDTHISPAPERWILLALSODEMONSTRATEITSCAPABILITYFORHIGHSPEEDPRECISIONCONTROLOFTHEENDEFFECTORITISALSOINTENDEDTOJUSTIFYWHYHYDRAULICSWERESELECTED,ALTHOUGHELECTRICALMOTORSARECOMMONLYUSEDININDUSTRYTODAYBASEDONSIMULATIONRESULTSWEESTIMATETHEDISPLACEMENTCOEFFICIENTORVOLUMEOFTHEROTARYHYDRAULICACTUATORREQUIREDFORTHISPURPOSEASUITABLEDESIGNFORTHEACTUATORISPROPOSEDNEXTFINALLY,ADESIGNOFTHECOMPLETESCARAARMWITHITSCOMPONENTSISPRESENTEDTHISPAPERISORGANIZEDASFOLLOWSABRIEFINTRODUCTIONANDANINSIGHTTOTHERESEARCHTOPICISPRESENTEDINSECTION1INSECTION2,THETHEORYANDMETHODOLOGYUSEDINMODELLINGTHESYSTEMAREPRESENTEDTHERESULTSOFTHESIMULATEDSYSTEMFORTHESCARAARMAREPRESENTEDNEXTSECTIONINSECTION4,THEDETAILSOFTHEACTUATORDESIGNANDTHESCARAARMASSEMBLYAREPRESENTEDINSECTION5,THECONCLUSIONSANDAVENUESFORFUTUREWORKAREGIVEN2PROBLEMFORMULATIONANDTHEDYNAMICMODELTHEPROPOSEDSCARATYPEROBOTICARMCONSISTSWITHTHREEDEGREESOFFREEDOMDOFHYDRAULICTYPEROTARYACTUATORSAREFITTEDTOTHETWOROTARYJOINTSOFTHEROBOTICARMTOPRODUCETHEHORIZONTALANGULARMOVEMENTXYPLANE

簡介：此文檔是畢業(yè)設(shè)計外文翻譯成品（含英文原文中文翻譯），無需調(diào)整復(fù)雜的格式下載之后直接可用，方便快捷本文價格不貴,也就幾十塊錢一輩子也就一次的事外文標(biāo)題DESIGNOFAHYDRAULICBENDINGMACHINE外文作者STEVEHANKEL，MARSHALLBEGEL文獻出處GENERALTECHNICALREPORTGTR，2018如覺得年份太老，可改為近2年，畢竟很多畢業(yè)生都這樣做英文3292單詞，19509字符字符就是印刷符，中文5165漢字。（如果字數(shù)多了，可自行刪減，大多數(shù)學(xué)校都是要求選取外文的一部分內(nèi)容進行翻譯的。）DESIGNOFAHYDRAULICBENDINGMACHINEABSTRACTTOKEEPPACEWITHCUSTOMERDEMANDSWHILEPHASINGOUTOLDANDUNSERVICEABLETESTEQUIPMENT,THESTAFFOFTHEENGINEERINGMECHANICSLABORATORYEMLATTHEUSDAFORESTSERVICE,FORESTPRODUCTSLABORATORY,DESIGNEDANDASSEMBLEDAHYDRAULICBENDINGTESTMACHINETHEEMLBUILTTHISMACHINETOTESTDIMENSIONLUMBER,NOMINAL2INTHICKANDUPTO12INDEEP,ATSPANSUPTO20FTANDLOADSUPTO20,000LBFTHEHYDRAULICBENDINGTESTMACHINEWASBUILTUSINGPARTSOFA100,000LBFCOMPRESSIONTESTFRAMEADDEDCOMPONENTSINCLUDEDW12BY65STEELBEAMSSTEELTUBESECTIONS,LSECTIONS,ANDTHREADEDRODSFORBEAMATTACHMENTIBEAMSPACERPLATESWOODBLOCKBEAMENDSUPPORTSA4INBORE,10INSTROKEHYDRAULICCYLINDERWITH38,000LBFCAPACITYSTEELPLATESFORCYLINDERREINFORCEMENTANDTWOPIVOTINGFOURPOINTLOADHEADASSEMBLIESECCENTRICLOADSTHATMIGHTOCCURDURINGATESTWILLNOTYIELDTHEPOSITIONINGSCREWSOFTHEMACHINEHEADOROTHERWISEAFFECTTESTRESULTSKEYWORDSHYDRAULICBENDINGMACHINE,DIMENSIONLUMBER,WOODTESTINGMACHINETHEPRIMARYPURPOSEOFTHEBENDINGMACHINEISTOTESTLONGSPANDIMENSIONLUMBERNOMINAL2BY4INTO2BY12IN,UPTO20FTINLENGTHATEXPECTEDLOADSLESSTHAN10,000LBANDDEFLECTIONSLESSTHAN6INTWOMACHINESTHATHAVEBEENUSEDBYTHEEMLFORBENDINGTESTSARETHE160,000LBFREIHLEMACHINEPURCHASEDIN1969ANDTHE25,000LBFBOXTESTMACHINEPURCHASEDIN1937THESEMACHINESAREOFQUESTIONABLERELIABILITYANDREPAIRABILITYBECAUSEOFTHEIRAGEAMACHINETHATISCAPABLEOFTESTINGLONGSPANDIMENSIONLUMBERISNOTCURRENTLYINPRODUCTIONANDWOULDHAVETOBECUSTOMMADEATGREATEXPENSETHEREFORE,WECHOSETOMODIFYA100,000LBFCOMPRESSIONTESTFRAMEWITHAMOTORDRIVENMOVABLEHEADBOX,WHICHWASDONATEDTOEMLMANYPARTSOFTHETESTFRAMEWEREREMOVED,LEAVINGTHESTEELFEET,SLAB,HEADBOXPOSITIONINGSCREWS,ANDHEADBOXPARTSTHATWEREADDEDTOCOMPLETETHEBENDINGTESTMACHINEINCLUDEDTWOWIDEFLANGEBEAMS,BEAMATTACHMENTHARDWARE,BEAMSPACERPLATES,BEAMENDSUPPORTS,AHYDRAULICCYLINDER,CYLINDERREINFORCEMENTHARDWARE,ANDTWOFOURPOINTLOADHEADASSEMBLIESDESIGNCONSIDERATIONSFORTHESECOMPONENTSAREPRESENTEDINTHISPAPERALTHOUGHTHE100,000LBFCOMPRESSIONFORCECAPACITYOFTHEORIGINALFRAMEDESIGNISMUCHGREATERTHANTHELOADSWEENCOUNTERDURINGBENDINGTESTS,WEDISCUSSTHEEFFECTSOFECCENTRICLOADSTHATAREMORELIKELYTOOCCURINBENDINGTESTSTHANINTHECOMPRESSIONTESTSFORWHICHTHEFRAMEWASDESIGNED

簡介：CONTROLOFMOBILEMANIPULATORUSINGTHEDYNAMICALSYSTEMSAPPROACHLARSPETERELLEKILDEHENRIKICHRISTENSENABSTRACTTHECOMBINATIONOFAMOBILEPLATFORMANDAMANIPULATOR,KNOWNASAMOBILEMANIPULATOR,PROVIDESAHIGHLYFLEXIBLESYSTEM,WHICHCANBEUSEDINAWIDERANGEOFAPPLICATIONS,ESPECIALLYWITHINTHEFIELDOFSERVICEROBOTICSONEOFTHECHALLENGESWITHMOBILEMANIPULATORSISTHECONSTRUCTIONOFCONTROLSYSTEMS,ENABLINGTHEROBOTTOOPERATESAFELYINPOTENTIALLYDYNAMICENVIRONMENTSINTHISPAPERWEWILLPRESENTWORKINWHICHAMOBILEMANIPULATORISCONTROLLEDUSINGTHEDYNAMICALSYSTEMSAPPROACHTHEMETHODPRESENTEDISATWOLEVELAPPROACHINWHICHCOMPETITIVEDYNAMICSAREUSEDBOTHFORTHEOVERALLCOORDINATIONOFTHEMOBILEPLATFORMANDTHEMANIPULATORASWELLASTHELOWERLEVELFUSIONOFOBSTACLEAVOIDANCEANDTARGETACQUISITIONBEHAVIORSIINTRODUCTIONTHEMAJORITYOFROBOTICRESEARCHHASINTHELASTDECADESFOCUSEDONEITHERMOBILEPLATFORMSORMANIPULATORS,ANDTHEREHAVEBEENMANYIMPRESSIVERESULTSWITHINBOTHAREASTODAYONEOFTHENEWCHALLENGESISTOCOMBINETHETWOAREAS,INTOSYSTEMS,WHICHAREBOTHHIGHLYMOBILEANDHAVETHEABILITYTOMANIPULATETHEENVIRONMENTESPECIALLYWITHINSERVICEROBOTICSTHEREWILLBEANINCREASEDNEEDFORSUCHSYSTEMSTHEDEMOGRAPHYOFMOSTWESTERNCOUNTRIESCAUSESTHENUMBEROFOLDPEOPLEINNEEDOFCARETOINCREASE,WHILETHEREWILLBELESSWORKINGTOACTUALLYSUPPORTTHEMTHISREQUIRESANINCREASEDAUTOMATIONOFTHESERVICESECTOR,FORWHICHROBOTSABLETOOPERATESAFELYININDOORANDDYNAMICENVIRONMENTSAREESSENTIALTHEPLATFORMUSEDINTHISWORKISSHOWNINFIGURE1,ANDCONSISTOFASEGWAYRMP200WITHAKUKALIGHTWEIGHTROBOTTHERESULTISAPLATFORMTHATHASARELATIVESMALLFOOTPRINTANDISHIGHLYMANEUVERABLE,MAKINGITWELLSUITEDFORMOVINGAROUNDINANINDOORENVIRONMENTTHEKUKALIGHTWEIGHTROBOTHASAFAIRLYLONGREACHANDHIGHPAYLOADCOMPAREDTOITSOWNWEIGHT,MAKINGITIDEALFORMOBILEMANIPULATIONWHENCONTROLLINGAMOBILEMANIPULATOR,THEREISACHOICEOFWHETHERTOCONSIDERTHESYSTEMASONEORTWOENTITIESIN1AND2THEYDERIVEJACOBIANSFORBOTHTHEMOBILEPLATFORMANDTHEMANIPULATORANDCOMBINETHEMINTOASINGLECONTROLSYSTEMTHERESEARCHREPORTEDIN3AND4,ONTHEOTHERHAND,CONSIDERSTHEMASSEPARATEENTITIESWHENPLANNING,BUTDOINCLUDECONSTRAINTS,SUCHASREACHABILITYANDSTABILITY,BETWEENTHETWOTHECONTROLSYSTEMWEPROPOSEISBASEDONTHEDYNAMICALSYSTEMSAPPROACH5,6ITISDIVIDEDINTOTWOLEVELS,LPELLEKILDEISWITHTHEMAERSKMCKINNEYMOLLERINSTITUTE,FACULTYOFENGINEERING,UNIVERSITYOFSOUTHERNDENMARK,CAMPUSVEJ55,5230ODENSEM,DENMARK,LPEMMMISDUDKHICHRISTENSENISWITHCENTERFORROBOTICSANDINTELLIGENTMACHINES,INTERACTIVECOMPUTING/COLLEGEOFCOMPUTING,GEORGIAINSTITUTEOFTECHNOLOGY,855THSTREET,ATLANTA,GA,USA,HICCCGATECHEDUFIG1PLATFORMCONSISTINGOFASEGWAYRMP200ANDAKUKALIGHTWEIGHTROBOTWHEREWEATTHELOWERLEVELCONSIDERTHEMOBILEPLATFORMANDTHEMANIPULATORASTWOSEPARATEENTITIES,WHICHARETHENCOMBINEDINASAFEMANNERATTHEUPPERLEVELTHEMAINREESARCHOBJECTIVEINTHISPAPERISTODEMONSTRATEHOWTHEDYNAMICALSYSTEMSAPPROACHCANBEAPPLIEDTOAMOBILEMANIPULATORANDUSEDTOCOORDINATEBEHAVIOURSATVARIOUSLEVELSOFCONTROLTHEREMAININGOFTHISPAPERISORGANIZEDASFOLLOWSTHEOVERALLARCHITECTUREISDESCRIBEDINSECTIONII,FOLLOWEDBYTHECONTROLOFTHEMOBILEPLATFORMANDTHEMANIPULATORINSECTIONSIIIANDIVINSECTIONVWEWILLSHOWSOMEEXPERIMENTSBEFORECONCLUDINGTHEPAPERINSECTIONVIHOWEVER,FIRSTASUMMARYOFWORKRELATEDTOTHEDYNAMICALSYSTEMSAPPROACHWILLBEPROVIDEDINSECTIONIAARELATEDWORKTHEDYNAMICALSYSTEMSAPPROACH5,6PROVIDESAFRAMEWORKFORCONTROLLINGAROBOTTHROUGHASETOFBEHAVIORS,SUCHASOBSTACLEAVOIDANCEANDTARGETACQUISITIONEACHBEHAVIOR2009IEEEINTERNATIONALCONFERENCEONROBOTICSANDAUTOMATIONKOBEINTERNATIONALCONFERENCECENTERKOBE,JAPAN,MAY1217,20099781424427895/09/2500?2009IEEE1370DMOBILETHRESHOLDSPECIFIESAMINIMUMDISTANCETOTHETARGETREQUIREDBEFORETHEMOBILEPLATFORMSHOULDMOVETHEMOBILEBEHAVIORHASNOABILITYTOINTERACTANDSUPPRESSOTHERBEHAVIORS,THUSITSCOMPETITIVEINTERACTIONSARESETTO02MANIPULATORACQUISITIONTHISBEHAVIORSHOULDBESTRENGTHENEDWHENTHEMOBILEPLATFORMGETSCLOSETOITSTARGETTHECOMPETITIVEADVANTAGEWILLTHUSBEDEFINEDASΑMANIPACQUISITION?TANHKMANIPΑDTAR?DMANIPTHRESHOLD5THEACTIVATIONDISTANCEDMANIPTHRESHOLDMUSTBEGREATERTHANDMOBILETHRESHOLDTOMAKESURETHEBEHAVIORISACTIVATEDTHISBEHAVIORHASNODIRECTINTERACTIONWITHTHEOTHERS,THUSITSINTERACTIONSARESETTO03MANIPULATORRETRACTTHERETRACTBEHAVIORSHOULDBEACTIVATEDOPPOSITETHEGOALBEHAVIOR,HENCEΑMANIPRETRACT?ΑMANIPACQUISITIONTANHKMANIPΑDTAR?DMANIPTHRESHOLD6EXCEPTFORAVERYSMALLTRANSITIONTIMETHISPREVENTSTHEMANIPULATORSACQUISITIONANDRETRACTBEHAVIORSFROMBEINGACTIVEATTHESAMETIME,THUSWECANSETΓRETRACT,ACQUISITION0FORTHEINTERACTIONBETWEENTHERETRACTANDTHEMOBILEBEHAVIORSWEWISHRETRACTTODEACTIVATEMOBILEWHENTHEMANIPULATORISFARAWAYFROMITSHOMECONFIGURATIONTHEINTERACTIONISTHEREFOREDEFINEDASΓRETRACT,MOBILE121TANHKRETRACTΓ?QCURRENT?QHOME???Q7INWHICHQCURANDQHOMEARETHEMANIPULATORSCURRENTANDHOMECONFIGURATIONS,?QSPECIFIESAPROXIMITYDISTANCEAROUNDQHOMEANDKRETRACTΓSPECIFIESHOWQUICKLYTHEINTERACTIONCHANGESIIICONTROLOFTHEMOBILEPLATFORMTHECONTROLOFTHEMOBILEPLATFORMISCONSTRUCTEDVERYSIMILARTOWHATISPRESENTEDIN14,BUTWITHAFEWDIFFERENCESFIRSTOFALLONLYTHETARGETACQUISITIONANDOBSTACLEAVOIDANCEBEHAVIORSAREUSEDTHECORRIDORFOLLOWINGANDWALLAVOIDANCEARENOTINCLUDED,BUTWOULDBESTRAIGHTFORWARDEXTENSIONSTHESECONDAREAINWHICHTHISWORKDIFFERSISINHOWTHEDENSITYOFOBSTACLESISCALCULATEDDETAILSOFTHISWILLBEEXPLAINEDINSECTIONIIIDFORTHECONTROLTOACTUALLYBEABLETONAVIGATETHROUGHTHEENVIRONMENT,ITISNECESSARYWITHAMETHODFORLOCALIZATIONTHEAPPROACHWEHAVEUSEDISBASEDONTHEMETHODDESCRIBEDIN20,WHICHCOMBINESODOMETRYANDLASERRANGEMEASUREMENTSMATCHEDAGAINSTAMAPOFDOMINATINGLINESINTHEENVIRONMENTTHECONTROLOFTHEPLATFORMISENCODEDUSINGTHEORIENTATION,Φ,ANDTHEVELOCITY,V,WHICHRESULTSINASYSTEMWITHCONTROLINPUTSFMOBILE{˙Φ,˙V}THEVALUESOFFMOBILEAREMADEUPOFTWOPARTS,FMOBILETARANDFMOBILEOBS,WHICHARECOMBINEDASFMOBILEWMOBILETARFMOBILETARWMOBILEOBSFMOBILEOBS8WHERETHEWEIGHTSWMOBILETARANDWMOBILEOBSARECONTROLLEDUSINGEQ3WITHTHECOMPETITIVEADVANTAGEANDINTERACTIONSDESCRIBEDINSECTIONIIICASCONTROLINPUTWENEEDEXPRESSIONSFORTHELEFTANDRIGHTWHEELSOFTHEMOBILEPLATFORM,DENOTEDULEFTANDURIGHT,RESPECTIVELYTOOBTAINTHESE˙VISINTEGRATEDTOGETV,WHICHTOGETHERWITHTHEDESIREDROTATIONALVELOCITY˙Φ,THEWHEELDIAMETERDWHEELANDTHEDISTANCEBETWEENTHEWHEELSDWHEELBASECANBEUSEDTOCALCULATETHECONTROLINPUTSASULEFT˙Φ,VVΠDWHEEL??29URIGHT˙Φ,VVΠDWHEEL?21011WHERE?ISTHENEEDEDDIFFERENCEINWHEELSPEEDGIVENBY?˙ΦDWHEELBASEDWHEELΠ12ATARGETDYNAMICSTHEBASICDYNAMICSOFTHISTARGETBEHAVIORISFMOBILE,ΦTARΦΛMOBILE,ΦTARSINΨTAR?Φ13FMOBILE,VTARVΛMOBILE,VTARMINKMOBILETARDTAR,VMAX?V14INWHICHΛMOBILE,ΦTARANDΛMOBILE,VTARARETHESTRENGTHSOFTHEATTRACTORSANDΨTARISTHEDIRECTIONTOTHETARGETTHECONSTANTKMOBILETARGIVESTHERELATIONBETWEENTHEDISTANCETOTHETARGETANDTHEDESIREDVELOCITYFINALLYVMAXISTHEMAXIMALVELOCITYALLOWEDFORTHEMOBILEPLATFORMBOBSTACLEDYNAMICSGIVENADISTANCEDOBS,IANDADIRECTIONΨITOTHEI’THOBSTACLE,THEDYNAMICSOFTHEOBSTACLEAVOIDANCEAREFMOBILE,ΦOBS,IΛMOBILE,ΦOBSΦ?ΨIE?CMOBILEOBSDOBS,IE?Φ?ΨI22Σ2I15FMOBILE,VOBS,I????ΛMOBILE,VOBSV?VMINFORVVMAX,I16WHEREVMAX,IMAXKOBSDOBS,I,VMINTHEDYNAMICSOFΦCONSISTSOF3ELEMENTSITHERELATIVEDIRECTIONTOTHEOBSTACLEΦ?ΨI,IIASCALEE?CMOBILEOBSDOBS,IINWHICHCMOBILEOBSDETERMINESTHEDECAYDEPENDINGOFTHEDISTANCE,DOBS,I,ANDIIIASCALE,E?Φ?ΨI22Σ2I,BASEDONTHEDIRECTIONTOTHEOBSTACLEANDWITHΣIARCSIN1DS1DOBS,IENSURINGTHEGENERATIONOFANATTRACTORBETWEENTWOOBSTACLESIFTHEROBOTCANPASSTHROUGHWHILEENSURINGTHESAFETYDISTANCEDSSEE14FORMOREDETAILSFORFMOBILE,VOBS,ITHEEXPRESSIONADJUSTSTHEVELOCITYTOWARDSKOBSDOBS,I,BUTENSURESTHATAMINIMUMVELOCITYOFVMINISKEPTTOOBTAINTHEVALUEOFFMOBILEOBSWESUMOVERALLOBSTACLESFMOBILEOBS?FMOBILE,ΦOBSFMOBILE,VOBS??I?FMOBILE,ΦOBS,IFMOBILE,VOBS,I?171372

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簡介：FEEDBACKCONTROLFORCANCELINGMECHANICALVIBRATIONSJAMESSMONTANAROANDGUY0BEALEELECTRICALANDCOMPUTERENGINEERINGDEPARTMENTGEORGEMASONUNIVERSITYFAIRFAX,VIRGINIAGBEALEGMUEDUABSTRACTLINEARQUADRATICGAUSSIANLQGCONTROLISAPPLIEDTOTHEAPPLICATIONOFACTIVEVIBRATIONCANCELLATIONTHEVIRTUALMASSOFAVIBRATIONMOTORISCONTROLLEDBASEDONMEASUREMENTSOFACCELERATIONTHEFINALCONTROLLERISAMODIFIEDLQGDESIGNDEVELOPEDFORANAUGMENTEDMODELOFTHEVIBRATIONMOTORTHISPAPERDESCRIBESTHEMODELINGANDPARAMETERIDENTIFICATIONOFTHEVIBRATIONMOTOR,DEVELOPMENTOFPERFORMANCESPECIFICATIONSFORTHECONTROLLER,DESIGNOFTHELQGCONTROLLER,ANDEXPERIMENTALTESTINGOFTHERESULTINGCONTROLSYSTEMMODELINGOFTHEVIBRATIONMOTORWASBASEDONBOTHTHEORETICALDERIVATIONANDEXPERIMENTALDATACOLLECTIONDEVELOPMENTOFTHESPECIFICATIONSFORTHECONTROLLERWASDONEPRIMARILYINTHEFREQUENCYDOMAIN,USINGTHERETURNRATIOSOFTWODIFFERENTTRANSFERFUNCTIONSCONTROLLERDESIGNWASDONEUSINGTHECONTINUOUSTIMELQGALGORITHMTHECONTROLLERWASIMPLEMENTEDASANANALOGCIRCUITWITHOPERATIONALAMPLIFIERSSOMECLOSEDLOOPSTABILITYISSUESWEREOBSERVEDDURINGTHEEXPERIMENTALTESTING,ANDANEXPLANATIONISOFFEREDFORTHESEPROBLEMSIINTRODUCTIONTHISPAPERDESCRIBESTHEDESIGNOFAFEEDBACKCONTROLSYSTEMTHATMAYBEUSEDTOCANCELMECHANICALVIBRATIONSONTHESURFACEOFANOBJECTTHECANCELLATIONISACCOMPLISHEDBYAPPLYINGANALTERNATINGFORCETOTHESURFACETHROUGHAVIBRATINGMOTORAPPLICATIONSFORWHICHITISDESIREDTOREDUCEVIBRATIONSINANOBJECTRANGEFROMHOMEAPPLIANCESANDAUTOMOBILESTOAIRCRAFTANDHIGHSPEEDTRAINS11,21,31REDUCINGMECHANICALVIBRATIONPROVIDESFORIMPROVEDUSERCOMFORTANDSAFETY,ANDITINCREASESPRODUCTRELIABILITYANDDURABILITYBYREDUCINGWEARFOURTASKSWEREUNDERTAKENASPARTOFTHISDESIGNPROJECTFIRSTITWASNECESSARYTODETERMINETHEPROPERTIESANDMATHEMATICALMODELOFACOMMERCIALLYAVAILABLEVIBRATINGMOTORWHICHWOULDBEUSEDTOAPPLYTHECANCELINGVIBRATIONTHESECONDTASKWASTODEVELOPASETOFPERFORMANCESPECIFICATIONSFORTHESYSTEMTOBEUSEDDURINGDESIGNOFTHECONTROLLERTHETHIRDTASKWASTOUSEFEEDBACKCONTROLDESIGNTECHNIQUESTODESIGNACONTROLLERWHICH,GIVENANINPUTSIGNALFROMAMOTIONTRANSDUCER,WILLGENERATEACONTROLSIGNALFORTHEMOTORTOCOUNTERACTTHATMOTIONBOTHH,ANDLINEARQUADRATICGAUSSIANLQGTECHNIQUESWEREINVESTIGATEDTHEFINALCONTROLLERISAMODIFIEDLQGDESIGNDEVELOPEDFORANAUGMENTEDMODELOFTHEVIBRATIONMOTORTHEFOURTHTASKWASTOIMPLEMENTTHECONTROLLERINANALOGCIRCUITRYANDTOTESTTHECLOSEDLOOPSYSTEMTHEFIRSTTHREETASKSAREDESCRIBEDINTHISPAPERRESULTSFROMIMPLEMENTINGTHECONTROLLERANDTESTINGTHECOMPLETESYSTEMAREALSOPRESENTED,ALONGWITHANINTERPRETATIONOFTHESOMEOFTHEEXPERIMENTALRESULTS11MODELINGANDIDENTIFICATIONTHEMAJORCOMPONENTINTHEVIBRATIONCANCELLATIONSYSTEMISAVIBRATIONMOTORTHISMOTORWOULDBEATTACHEDTOTHESURFACEOFWHATEVEROBJECTTHATHASTHEVIBRATIONSTHATARETOBECANCELLEDMOUNTINGANACCELEROMETERONTHEMOTORCASINGSENSESTHEVIBRATIONSOFTHEOBJECTTHEACCELERATIONOFTHEMOTORCASINGISSENSED,ANDTHEMOTORISCONTROLLEDINSUCHAWAYASTOPRODUCEITSOWNVIBRATIONSTHATCANCELTHOSEFROMTHEEXTERNALDISTURBANCECANCELINGTHATVIBRATIONISACCOMPLISHEDBYSTILLINGTHEMOTORTHATIS,BYCRAFTINGACONTROLSIGNALTOHOLDMOTORACCELERATIONTOZEROORNEARLYSO,THEDISTURBANCEVIBRATIONISCOUNTERACTEDTHEVIBRATIONMOTORFIG1ISMODELEDBYAMASSML,REPRESENTINGTHEOUTERMOTORCASING,ANDANINNERSUSPENDEDMASSMZASPRINGANDDAMPER,WHICHMODELTHESUSPENSION,CONNECTTHETWOMASSESMOTORFORCEISELECTROMAGNETICANDACTSBETWEENTHETWOMASSES,PUSHINGTHEMAPARTORPULLINGTHEMTOGETHERDEPENDINGONTHEDIRECTIONOFTHEDRIVECONTROLCURRENTZ,THEMOTORFORCEISTHECONTROLFORCEF,MOTORLBDISTURBANCEFORCEIIL2ICONTROLLERFIG1SCHEMATICOFVIBRATIONCONTROLSYSTEMTHEMOTORRESPONSETOANALTERNATINGDISTURBANCEFORCEAPPLIEDTOM,WITHNOFEEDBACKWILLBEFREQUENCYDEPENDENTATVERYLOWFREQUENCY,THESUSPENSIONWILLHOLDMLANDM2INRELATIVEEQUILIBRIUMTHEMASSESWILLMOVEINUNISONASTHEMOTORACCELERATESBACKANDFORTHTHEEFFECTIVEMASSOFTHESYSTEMISMLM2ATVERYHIGHFREQUENCY,THEMAGNITUDESOFTHEVELOCITYANDDISPLACEMENTOFMLAPPROACHZERO,ANDNOFORCEISTRANSMITTEDTHROUGHTHESUSPENSIONTOM2INEFFECT,THEDISTURBANCEFORCEACTSONLYONMI,SOTHEEFFECTIVEMASSISMLOVERSOMEFREQUENCYRANGETHEREMUSTBEATRANSITIONBETWEENLOWFREQUENCYANDHIGHFREQUENCYBEHAVIORCLEARLYTHEPATHTHROUGHTHESUSPENSIONISFREQUENCYDEPENDENTATHIGHFREQUENCY,THISPATHVANISHES,SINCEDISPLACEMENTAND0780345037/98/10001998IEEE1433FREQUENCIESTHATIS,RATHERTHANACCOUNTFORTHERESONANCESINTHEMODEL,WECANGUARANTEESTABILITYBYMAKINGTHERETURNRATIOLESSTHANONEATTHOSEFREQUENCIES111CONTROLLERDESIGNAPELFORMANCECRITERIASEVERALCRITERIAWERESELECTEDFOREVALUATINGCONTROLLERDESIGNSFIRST,THECLOSEDLOOPDISTURBANCERESPONSESHOULDBEASSMALLASPOSSIBLEOVERSOMEUSEFULFREQUENCYRANGETHISISEQUIVALENTTOMAKINGTHEVIRTUALMASSASLARGEASPOSSIBLEINTHATRANGEONEGOALINTHISPERFORMANCEMEASUREWASTOATTAINAVIRTUALMASSATLEASTTENTIMESTHEMOTORSOPENLOOPMASSSECOND,MOTOREXCURSIONXISHOULDNOTBEEXCESSIVEATANYFREQUENCY,SOASTOAVOIDTHELIMITSOFSUSPENSIONTRAVELTHIRD,CONTROLFORCESHOULDNOTBEMUCHGREATERTHANTHEDISTURBANCEFORCEATANYFREQUENCYTHISENSURESTHATCONTROLENERGYISNOTBEINGWASTEDATAFREQUENCYWHERETHEMOTORCANNOTRESPONDADEQUATELYFIG3SHOWSTHEFREQUENCYRESPONSEMAGNITUDEFROMTHECONTROLINPUTTOTHEOUTPUTFORTHESYSTEMMODELOFEQN2FROMINSPECTIONOFTHEFIGURE,ITISAPPARENTTHATTHECONTROLLERSHOULDNOTWASTEENERGYBYTRYINGTOCOUNTERACTVERYLOWFREQUENCYDISTURBANCESOPENLOOPCONTROLRESPONSEMAGNITUDEUTOY40302010ZO210P203040504010“1010210IOFREQUENCYHZFIG3OPENLOOPCONTROLRESPONSEFOURTH,SENSORNOISEIMPOSEDONTHEPLANTBYTHECONTROLLOOPSHOULDNOTBEAMPLIFIEDEXCESSIVELYFIFTH,LOOPGAINSHOULDBELESSTHANYIATALLHIGHFREQUENCYPLANTRESONANCESTHISLEAVESAFACTOROFTWOMARGINFORERRORFINALLY,CLOSEDLOOPSTABILITYSHOULDBEROBUSTTOREASONABLECHANGESORMODELINGERRORSINTHEPLANTSPHYSICALPARAMETERSANDTOTHEATTACHMENTOFTHEPLANTTOALOADMASSBSTRUCTUREOFTHECONTROLLERCANDFMATRICES,RESPECTIVELYTHECONVERGENCEOFTHISDUMMYSTATEFORCESTHEACTUALANDESTIMATEDOUTPUTSTOBEDRIVENTOZEROBYTHISMECHANISM,THEPLANTOUTPUTCANBEREGULATEDINTHEFINALCONTROLLERDESIGN,THEOBSERVERANDCONTROLGAINSWERECOMPUTEDUSINGTHELINEARQUADRATICGAUSSIANTECHNIQUEWITHLOOPTRANSFERRECOVERYLQGLTRINORDERTOIMPROVEDISTURBANCEREJECTION,THEOPENLOOPSYSTEMMODELWASAUGMENTEDBYPLACINGANADDITIONALDYNAMICSYSTEMINSERIESWITHTHECONTROLINPUTTHEAUGMENTATIONISDESCRIBEDINMOREDETAILINTHENEXTSECTIONTHEKALMANFILTERANDLINEARREGULATORGAINSWERECALCULATEDFORTHISAUGMENTEDSYSTEMMODELTHEWEIGHTINGMATRICESWERETUNEDMANUALLYTOOBTAINGOODPERFORMANCEOFTHECLOSEDLOOPSYSTEM,RELATIVETOTHEPERFORMANCECRITERIAMENTIONEDABOVECDESIGNOFTHECONTROLLERWITHTHEPOLEPLACEMENTDESIGN,THEOBSERVERPOLESINITIALLYWEREPLACEDMUCHFASTERTHANTHEPLANTPOLESTHISAPPROACHDIDNOTGIVEADEQUATEATTENUATIONATTHEHIGHFREQUENCYRESONANCESATTEMPTSATIMPROVINGPERFORMANCEBYMOVINGTHEPOLESLOCATIONSWEREMARGINALATBESTTHEINCREASEINEFFECTIVEMASSOCCURREDONLYOVERAVERYSMALLFREQUENCYRANGE,ANDTHECONTROLENERGYWASCONSIDEREDTOOHIGHFORTHEAMOUNTOFDISTURBANCEREJECTIONACHIEVEDINANATTEMPTTOIMPROVEPERFORMANCEWITHANEFFICIENTDESIGNPROCEDURE,THELINEARQUADRATICGAUSSIANTECHNIQUEWASUSEDWITHLOOPTRANSFERRECOVERY4,5THEKALMANFILTERDESIGNPARAMETERSR,W,ANDVTHEDISTURBANCEINPUTMATRIXANDTHEDISTURBANCEANDNOISEPROCESSCOVARIANCEMATRICESWEREINITIALIZEDTOG,1,AND1,RESPECTIVELY,WHEREGISTHEDISTURBANCEINPUTMATRIXSINCEBOTHWANDVARESCALARS,ITISTHEIRRATIOTHATMATTERSANDNOTTHEIRINDIVIDUALVALUESTHEREFORE,ONLYWISADJUSTEDFORLQRSTATEFEEDBACKDESIGN,THEFOLLOWINGPERFORMANCEINDEX,WHICHWEIGHTSTHECOSTSOFOUTPUTANDCONTROLENERGY,WASUSEDJLOMYRUDTLOMCXDUIRUDTLOMXQXUTRU2XNUDT6QCTC,RRD2,NCTDTHESYSTEMSCLOSEDLOOPBEHAVIORWASMANIPULATEDBYADJUSTINGTHESCALARPARAMETERSWANDRSINCETHEKEYPERFORMANCECRITERIAWEREALLRESPONSESTOTHEDISTURBANCEINPUT,CLOSEDLOOPPERFORMANCECANNOTBESEENDIRECTLYINTHEKALMANFILTERRESPONSEANDTHERESPONSERECOVEREDBYTHELQRNONETHELESS,THEINFLUENCESOFWANDRWERECONSISTENTWITHLQGLTRPRINCIPLESFOREXAMPLE,INCREASINGWINCREASEDTHEKALMANFILTERBANDWIDTH,ASEVIDENCEDBYINCREASEDHIGHFREQUENCYNOISERESPONSEDECREASINGRTHECONTROLENERGYCOSTALSOINCREASEDNOISEBANDWIDTHBYRECOVERINGOFTHEKALMANFILTER,SRESPONSEEXPERIMENTATIONPROCEEDEDSINCETHEREWEREONLYTWOTHEINITIALSTRUCTUREFORTHECONTROLLERCONSISTED6FANOBSERVERANDFEEDBACKGAINMATRIX,BOTHDESIGNEDWITHPOLEPLACEMENTSINCETHEREISADIRECTFEEDTHROUGHPARAMETERSTOADJUSTTHERESULTSACHIEVED,HOWEVER,WERETERMFROMTHEPROCESSDISTURBANCETOTHEOUTPUTYTHEOBSERVERSESTIMATEDSTATEDOESNOTCONVERGETOTHETRUESTATEOFTHETRUESTATEANDTHEPROCESSDISTURBANCE,MULTIPLIEDBYTHEVIRTUALLYIDENTICALTOTHOSEOBTAINEDUSINGPOLEPLACEMENTITWASAPPARENTTHATTHEDESIREDRESULTSCOULDNOTBEOBTAINEDRATHER,ITONVERGESTOADUMMYSTATETHATISAOMBINATIONSOLELYBYFEEDINGBACKANESTIMATEDPLANTSTATEDUMMYSTATE0780345037/98/10001998IEEE1435

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NWECANGETTHEJACOBIANMATRIXOFTHEMANIPULATORIS10???????????????????3111111122QXQXQXJJJJJJIJJ??????15VWORKSPACEITISWELLKNOWNTHATCOMPARINGWITHSERIALONES,PARALLELMANIPULATORSHAVERELATIVELYSMALLWORKSPACETHUS,ITISNECESSARYTOANALYZETHESHAPEOFTHEWORKSPACETOENHANCETHEPERFORMANCEOFPARALLELMANIPULATORTHEREACHABLEWORKSPACEISDEFINEDASTHESPACETHATCANBEREACHEDBYTHEREFERENCEPOINTWITHATLEASTONEORIENTATIONWESELECTAPOINTATWAXISWITHADISTANCEABOVETHECENTROIDMOFTHEMOVINGPLATFORMASTHEREFERENCEPOINTTHEREARETHREESTEPSTOGETTHEWORKSPACEFORTHISMANIPULATORTHEFIRSTISTOSEARCHINGTHEBOUNDARYOFTHESPATIAL3RRSMANIPULATORWITHSPHERECOORDINATESEARCHINGMETHODTHEBOUNDARYOFTHEPLANAR3RRRMANIPULATORISEASILYDERIVEDBYNORMALBOUNDARYSEARCHINGMETHOD,THISISTHESECONDSTEPTHEN,MOVINGTHESPATIALWORKSPACEALONGTHEBOUNDARYOFTHEPLANARCURVEGETTINGINTHESECONDSTEP,THERESULTINGENVELOPEISTHEWORKSPACEOFTHECOMBINEDMANIPULATORCERTAINLY,PHYSICALCONSTRAINTSSHOULDBECONSIDEREDDURINGTHEDESIGNOFAPRACTICALMANIPULATORTHEARCHITECTURALPARAMETERSOFTHEMANIPULATORARESELECTEDASR50MM,R80MM,R’260MM,LL130MM,AB140MMSUPPOSETHEORIENTATIONISZERO,THEWORKSPACEOFTHEMANIPULATORISGENERATEDBYAMATLABPROGRAMASSHOWNINFIG3A,BANDCTHEYREPRESENTTHEFRONTVIEW,TOPVIEWANDLEFTVIEWRESPECTIVELYINTHEFIGUREITISOBSERVEDFROMFIG3THATTHEREACHABLEWORKSPACEISSYMMETRICALABOUTTHEMOTIONDIRECTIONSOFTHETHREEACTUATORSVIDEXTERITYTHEDEXTERITYOFAMANIPULATORCANBEREGARDEDASTHEABILITYOFTHEMANIPULATORTHATCANARBITRARILYCHANGEITSPOSITIONSANDORIENTATIONS,ORTOAPPLYFORCESANDTORQUESINARBITRARYDIRECTIONSITHASBEENAMEASUREFORMANIPULATOR’SKINEMATICPERFORMANCEINDEX14THEJACOBIANMATRIXREPRESENTSTHEMAPPINGOFBOTHVELOCITIESANDFORCESBETWEENTHEENDEFFECTORANDTHEACTUATORSOFTHEMANIPULATOR,SOITSPROPERTIESAREUSEDASAMEASUREOFDEXTERITYGENERALLYDIFFERENTINDICESOFMANIPULATORDEXTERITYAREPRESENTEDASCONDITIONNUMBER,MINIMUMSINGULARITYANDMANIPULABILITYTHECONDITIONNUMBEROFTHEJACOBIANMATRIXRANGESINVALUEFROMONEISOTROPYTOINFINITYSINGULARITYWHICHMEASURESTHEDEGREEOFILLCONDITIONINGITISUSEDASTHEINDEXOFDEXTERITYINTHISPAPERTHECONDITIONNUMBEROFTHEJACOBIANMATRIXCANBEDEFINEDAS1471

簡介：ACOMPLETEANDGENERALSOLUTIONTOTHEFORWARDKINEMATICSPROBLEMOFPLATFORMTYPEROBOTICMANIPULATORSXIAOLUNSHIDEPARTMENTOFSYSTEMSENGINEERINGTHECHINESEUNIVERSITYOFHONGKONGABSTRACTINTHISPAPERAGENERALMETHODISPRESENTED,BASEDONTHEDATAOFTHREEPOINTPOSITIONS,VELOCITIESANDACCELERATIONSOFTHEENDEFFECTOR,FORSOLVINGTHEFORWARDKINEMATICSPROBLEMOFANYPLATFORMTYPEMANIPULATOR,INCLUDINGTHE6DOFSTEWARTPLATFORMNUMERICALEXAMPLESAREINCLUDEDTODEMONSTRATETHEAPPLICATIONOFTHEMETHODITISSHOWNTHATTHEEQUATIONSFORTHEFORWARDPOSITIONKINEMATICSAREHIGHLYNONLINEAR,HOWEVER,CLOSEDFORMSOLUTIONSTOTHEFORWARDRATEKINEMATICSANDTHEFORWARDACCELERATIONKINEMATICSCANBEOBTAINEDBYSOLVINGASYSTEMOFLINEAREQUATIONSTHEADVANTAGESOFUSINGADDITIONALPASSIVEJOINTENCODERSISALSODISCUSSED,TOSIMPLIFYTHESOLUTIONOFTHEPOSITIONKINEMATICSPROBLEM,ANDOBTAINAONETOONERELATIONBETWEENTHEACTUATEDJOINTVARIABLESANDTHEENDEFFECTORCONFIGURATIONS1INTRODUCTIONTHEANTHROPOMORPHICOPENCHAINMECHANISMSOFSERIALTYPEINDUSTRIALROBOTARMSHAVEANUMBEROFADVANTAGESSUCHASLONGREACH,LARGEWORKSPACEANDDEXTROUSMANEUVERABILITYHOWEVER,THELOWRIGIDITYOFTHECANTILEVEREDSTRUCTUREOFTHEOPENCHAINMECHANISMISASERIOUSDISADVANTAGE,ANDITISNOTSUITABLEFORHIGHSPEEDORPRECISIONOPERATIONSANALTERNATIVETOTHESERIALTYPEMANIPULATIONDEVICEISTHEPARALLELMECHANISMSUCHASTHESTEWARTPLATFORMLTHEREDUCEDMASSOFTHEMOVINGPARTS,TOGETHERWITHTHESIGNIFICANTLYIMPROVEDENDPOINTSTIFFNESSOFTHETRUSSLIKESTRUCTUREOFTHEPARALLELMECHANISM,RESULTSINHIGHPOSITIONINGACCURACYANDGOODDYNAMICPERFORMANCEAGREATDEALOFRESEARCHWORKHASBEENDONEINTHEAREAOFTHEKINEMATICANALYSISOFPARALLELMANIPULATORSHUNT2,INHISBOOK,SUGGESTEDTHATTHEMANIPULATIONCAPABILITYOFTHEPARALLELMECHANISMBEUTILIZEDINROBOTSANDHELATER3LISTEDANUMBEROFPOSSIBLESTRUCTURESOFPARALLELMECHANISMSSUITABLEFORROBOTICAPPLICATIONSYANGETAL4,FROMTHEKINEMATICPOINTOFVIEW,STUDIEDTHEFEASIBILITYOFAPPLYINGSUCHAMECHANICALDEVICEINROBOTICSFITCHER5PERFORMEDADETAILEDTHEORETICALANDEXPERIMENTALINVESTIGATIONOFRGFENTONDEPARTMENTOFMECHANICALENGINEERINGTHEUNIVERSITYOFTORONTOASTEWARTPLATFORMTYPEMANIPULATORRECENTLY,MOHAMEDETAL6,SUGIMOTO7,SHIETAL8ANDBEHI9RESPECTIVELY,DEVELOPEDCOMPUTATIONALSCHEMESFORSOLVINGTHEINSTANTANEOUSKINEMATICSOFPARALLELMECHANISMS,SUCHASTHESTEWARTPLATFORM,USINGSCREWTHEORY,THECONCEPTOFPARTIALTWIST6ANDOTHERTECHNIQUESLEEETALLOANDWALDRONETALLL,RESPECTIVELY,DEVELOPEDSOLUTIONSTOTHEFORWARDPOSITIONKINEMATICSPROBLEMFORA3DOFINPARALLELACTUATEDMANIPULATOR,ANDAHYBRIDSERIALPARALLELMANIPULATORCONTAININGA3DOFPARALLELMODULENANUAETAL12PRESENTEDASOLUTIONFORTHEFORWARDPOSITIONKINEMATICSOFASPECIALFORMOFTHE6DOFSTEWARTPLATFORMHOWEVER,MOSTOFTHESEMETHODSEITHERINVOLVEALLPASSIVEJOINTVARIABLESANDTHUSTHESOLUTIONPROCEDURESAREVERYCOMPLICATED,ORCANONLYBEAPPLIEDTOCERTAINSIMPLIFIEDVERSIONSOFTHEPLATFORMTYPEMANIPULATORANEFFECTIVE,GENERALANDUNIFIEDSOLUTIONFORTHEFORWARDKINEMATICSPROBLEMOFPLATFORMTYPEMANIPULATORS,INCLUDINGPOSITION,VELOCITYANDACCELERATIONKINEMATICS,ISSTILLUNAVAILABLEATPRESENTINTHISPAPER,AGENERALMETHODISPRESENTEDFORSOLVINGTHEFORWARDKINEMATICSPROBLEMOFPLATFORMTYPEMANIPULATORS,USINGTHEPOSITIONS,VELOCITIES,ANDACCELERATIONSOFTHREEPOINTSOFTHEMOVINGPLATFORMENDEFFECTORTHISMETHODREQUIRESTHESOLUTIONOFONLYAFEWOFTHEPASSIVEJOINTVARIABLESANDTHUSTHEMETHODISCOMPUTATIONALLYEFFICIENT,ANDITSIMPLEMENTATIONISSTRAIGHTFORWARD2FORWARDPOSITIONKINEMATICSLETUSFIRSTCONSIDERA6DOFSTEWARTPLATFORMASSHOWNINFIGURE1THETHREENONCOLLINEARPOINTSOFTHEMOVINGPLATFORMUNDERCONSIDERATIONARE,RESPECTIVELY,PII1,3THECOORDINATESOFTHETHREEPOINTSEXPRESSEDWITHRESPECTTOTHEBASEREFERENCEFRAME0XY2CANBEREPRESENTEDBY10504729B4030001994IEEE3055FIGURE3THETOPVIEWOFASYMMETRIC6DOFPLATFORMSIMILARLY,THEUNITVECTORJREPRESENTINGTHEORIENTATIONOFTHE,YEAXISWITHRESPECTTOTHEBASEFRAMEISTHEUNITVECTORKREPRESENTINGTHEORIENTATIONOFTHEZEAXISWITHRESPECTTOTHEBASE,THEN,CANBEDETERMINEDUSINGTHECROSSPRODUCT24KIXJQSINSINA7IL,QSINPCOSAI7RIANDP,INGENERAL,CONTAINSIXUNKNOWNVARIABLES,AANDPI,WHICHMUSTBEELIMINATEDBEFORETHEPOSITIONANDORIENTATIONOFTHEENDEFFECTORCANACTUALLYBEDETERMINEDTOTHISEND,SIXCONSTRAINTEQUATIONSAREREQUIRED,OFWHICHTHREECANBEOBTAINEDUSINGTHETHREEPOINTVECTORS,PI,POINTSARETHECENTERSOFTHESPHERICDJOINTSCONNECTING43THEOTHERTHREEEXTENDIBLELINKSTOTHEMOVINGPLATFORMR32JTQI3ACOSP1Q2COSPZ2Q3COSP3ASSHOWNINFIGURE23051

簡介：INTJADVMANUFTECHNOL200731797–804DOI101007/S0017000502325ORIGINALARTICLEZHIQILIUTATSUYANAKAMURACOMBINATIONOFROBOTCONTROLANDASSEMBLYPLANNINGFORAPRECISIONMANIPULATORRECEIVED22MARCH2005/ACCEPTED1AUGUST2005/PUBLISHEDONLINE15FEBRUARY2006SPRINGERVERLAGLONDONLIMITED2006ABSTRACTTHISPAPERRESEARCHESHOWTOREALIZETHEAUTOMATICASSEMBLYOPERATIONONATWOFINGERPRECISIONMANIPULATORAMULTILAYERASSEMBLYSUPPORTSYSTEMISPROPOSEDATTHETASKPLANNINGLAYER,BASEDONTHECOMPUTERAIDEDDESIGNCADMODEL,THEASSEMBLYSEQUENCEISFIRSTGENERATED,ANDTHEINFORMATIONNECESSARYFORSKILLDECOMPOSITIONISALSODERIVEDTHEN,THEASSEMBLYSEQUENCEISDECOMPOSEDINTOROBOTSKILLSATTHESKILLDECOMPOSITIONLAYERTHESEGENERATEDSKILLSAREMANAGEDANDEXECUTEDATTHEROBOTCONTROLLAYEREXPERIMENTALRESULTSSHOWTHEFEASIBILITYANDEFFICIENCYOFTHEPROPOSEDSYSTEMKEYWORDSMANIPULATORASSEMBLYPLANNINGSKILLDECOMPOSITIONAUTOMATEDASSEMBLY1INTRODUCTIONOWINGTOTHEMICROELECTROMECHANICALSYSTEMSMEMSTECHNIQUES,MANYPRODUCTSAREBECOMINGVERYSMALLANDCOMPLEX,SUCHASMICROPHONES,MICROOPTICALCOMPONENTS,ANDMICROFLUIDICBIOMEDICALDEVICES,WHICHCREATESINCREASINGNEEDSFORTECHNOLOGIESANDSYSTEMSFORTHEAUTOMATEDPRECISIONASSEMBLYOFMINIATUREPARTSMANYEFFORTSAIMINGATSEMIAUTOMATEDORAUTOMATEDASSEMBLYHAVEBEENFOCUSEDONMICROASSEMBLYTECHNOLOGIES1–3HOWEVER,MICROASSEMBLYTECHNIQUESOFHIGHFLEXIBILITY,EFFICIENCY,ANDRELIABILITYSTILLOPENTOFURTHERRESEARCHTHISPAPERRESEARCHESHOWTOREALIZETHEAUTOMATICASSEMBLYOPERATIONONATWOFINGERMICROMANIPULATORAMULTILAYERASSEMBLYSUPPORTSYSTEMISPROPOSEDAUTOMATICASSEMBLYISACOMPLEXPROBLEMWHICHMAYINVOLVEMANYDIFFERENTISSUES,SUCHASTASKPLANNING,ASSEMBLYSEQUENCESGENERATION,EXECUTION,ANDCONTROL,ETCITCANBESIMPLYDIVIDEDINTOTWOPHASESTHEASSEMBLYPLANNINGANDTHEROBOTCONTROLATTHEASSEMBLYPLANNINGPHASE,THEINFORMATIONNECESSARYFORASSEMBLYOPERATIONS,SUCHASTHEASSEMBLYSEQUENCE,ISGENERATEDATTHEROBOTCONTROLPHASE,THEROBOTISDRIVENBASEDONTHEINFORMATIONGENERATEDATTHEASSEMBLYPLANNINGPHASE,ANDTHEASSEMBLYOPERATIONSARECONDUCTEDSKILLPRIMITIVESCANWORKASTHEINTERFACEOFASSEMBLYPLANNINGTOROBOTCONTROLSEVERALROBOTSYSTEMSBASEDONSKILLPRIMITIVESHAVEBEENREPORTED4–6THEBASICIDEABEHINDTHESESYSTEMSISTHEROBOTPROGRAMMINGROBOTMOVEMENTSARESPECIFIEDASSKILLPRIMITIVES,BASEDONWHICHTHEASSEMBLYTASKISMANUALLYCODEDINTOPROGRAMSWITHTHEPROGRAMS,THEROBOTISCONTROLLEDTOFULFILLASSEMBLYTASKSAUTOMATICALLYASKILLBASEDMICROMANIPULATIONSYSTEMHASBEENDEVELOPEDINTHEAUTHORS’LAB,ANDITCANREALIZEMANYMICROMANIPULATIONOPERATIONSINTHESYSTEM,THEASSEMBLYTASKISMANUALLYDISCOMPOSEDINTOSKILLSEQUENCESANDCOMPILEDINTOAFILEAFTERIMPORTINGTHEFILEINTOTHESYSTEM,THESYSTEMCANAUTOMATICALLYEXECUTETHEASSEMBLYTASK7THISPAPERATTEMPTSTOEXPLOREAUSERFRIENDLY,ANDATTHESAMETIMEEASY,SEQUENCEGENERATIONMETHOD,TORELIEVETHEBURDENOFMANUALLYPROGRAMMINGTHESKILLSEQUENCEITISANEFFECTIVEMETHODTODETERMINETHEASSEMBLYSEQUENCEFROMGEOMETRICCOMPUTERAIDEDDESIGNCADMODELSMANYAPPROACHESHAVEBEENPROPOSEDEG,8–11THISPAPERAPPLIESASIMPLEAPPROACHTOGENERATETHEASSEMBLYSEQUENCEITISNOTINVOLVEDWITHTHELOWLEVELDATASTRUCTUREOFTHECADMODEL,ANDCANBEREALIZEDWITHTHEAPPLICATIONPROGRAMMINGINTERFACEAPIFUNCTIONSTHATMANYCOMMERCIALCADSOFTWAREPACKAGESPROVIDEINTHEPROPOSEDAPPROACH,ARELATIONSGRAPHAMONGDIFFERENTCOMPONENTSISFIRSTCONSTRUCTEDBYANALYZINGTHEASSEMBLYMODEL,ANDTHEN,POSSIBLESEQUENCESARESEARCHED,BASEDONZLIUPTCJAPANCOMPANY,OJI525617,KITAKU,TOKYO,1140002,JAPANEMAILLIUZHIQIECOMPMETROUACJPTEL8142677114246FAX814267727TNAKAMURADEPARTMENTOFPRECISIONENGINEERING,TOKYOMETROPOLITANUNIVERSITY,KITAKU,JAPANCONSTRAINT,THEREMAININGDEGREESOFFREEDOMARER1{X,Y,ROTZ}FORTHECOLLINEARCONSTRAINT,THEREMAININGDEGREESOFFREEDOMARER2{Z,ROTZ}R1ANDR2CANALSOBEREPRESENTEDASR1{1,1,0,0,0,1}ANDR2{0,0,1,0,0,1}HERE,1MEANSTHATTHEREISADEGREEOFSEPARATIONBETWEENTHETWOPARTSR1∩R2{0,0,0,0,0,1},ANDSO,THEDEGREEOFFREEDOMAROUNDTHEZAXISWILLBEIGNOREDINTHEFOLLOWINGSTEPSINTHECASETHATTHEREISALOOPINTHERELATIONGRAPH,SUCHASPARTSPART5,PART6,ANDPART7INFIG2,THELOOPHASTOBEBROKENBEFORETHEMATINGDIRECTIONISCALCULATEDUNDERTHEASSUMPTIONTHATALLPARTSINTHECADMODELAREFULLYCONSTRAINEDANDNOTOVERCONSTRAINED,THEFOLLOWINGSIMPLEAPPROACHISADOPTEDFORTHEPARTTINTHELOOP,CALCULATETHENUMBEROF1SINNTI?RI1\RI2\\RINWHERERIKISTHEREMAININGDEGREESOFFREEDOMOFCONSTRAINTKBYPARTIFOREXAMPLE,INFIG2,GIVENTHATTHENUMBEROF1SINUPART5,PART7ANDUPART6,PART7ISLARGERTHANUPART5,PART6ANDUPART6,PART5,RESPECTIVELY,THENITCANBEREGARDEDTHATTHEPOSITIONOFPART7ISDETERMINEDBYCONSTRAINTSWITHBOTHPART5ANDPART6,WHILEPART5ANDPART6CANBEFULLYCONSTRAINEDBYCONSTRAINTSBETWEENPART5ANDPART6WECANUNITEPART5ANDPART6ASONENODEINTHERELATIONGRAPH,ALSOCALLEDACOMPOSITENODE,ASSHOWNINFIG2BTHECOMPOSITENODEWILLBEREGARDEDASASINGLEPART,BUTITISOBVIOUSTHATTHECOMPOSITENODEIMPLIESANASSEMBLYSEQUENCE2CALCULATEMATINGDIRECTIONSFORALLNODESINTHERELATIONGRAPHAGAIN,FORTHEEXAMPLEINFIG3,BEGINNINGATTHESTATETHATTHESHAFTANDTHEHOLEAREASSEMBLED,SEPARATETHEPARTINONEDEGREEOFSEPARATIONBYACERTAINDISTANCELARGERTHANTHEMAXIMUMTOLERANCE,ANDTHENCHECKIFINTERFERENCEOCCURSSEPARATIONINBOTH±XAXISAND±YAXISOFR1CAUSESTHEINTERFERENCEBETWEENTHESHAFTANDTHEHOLESEPARATIONINTHEZDIRECTIONRAISESNOINTERFERENCETHEN,SELECTTHEZDIRECTIONASTHEMATINGDIRECTION,WHICHISREPRESENTEDASAVECTORMMEASUREDINTHECOORDINATESYSTEMOFTHEASSEMBLYITSHOULDBENOTEDTHAT,INSOMECASES,THEREMAYBESEVERALPOSSIBLEMATINGDIRECTIONSFORAPARTTHECONDITIONFORASSEMBLYOPERATIONINTHEMATINGDIRECTIONTOBEENDEDSHOULDBEGIVENWHENCONTACTOCCURSBETWEENPARTSINTHEMATINGDIRECTIONATTHEASSEMBLEDSTATE,WHICHCANBECHECKEDSIMPLYWITHGEOMETRICCONSTRAINTS,THEENDCONDITIONISMEASUREDBYFORCESENSORYINFORMATION,WHEREASPOSITIONINFORMATIONISUSEDASANENDCONDITION3CALCULATETHEGRASPINGPOSITIONINTHISPAPER,PARTSAREHANDLEDANDMANIPULATEDWITHTWOSEPARATEPROBES,WHICHWILLBEDISCUSSEDINTHESECT4,ANDPLANESOREDGESARECONSIDEREDFORGRASPINGINTHECASETHATTHEREARESEVERALMATINGDIRECTIONS,THEGRASPINGPLANESARESELECTEDASG1∩G2∩∩GI,WHEREGIISPOSSIBLEGRASPINGPLANE/EDGESETFORTHEITHMATINGDIRECTIONWHENTHEPARTISATITSFREESTATEFOREXAMPLE,INFIG4,THEPAIRPLANESP1/P1′,P2/P2′,ANDP3/P3′CANSERVEASPOSSIBLEGRASPINGPLANES,ANDTHENTHEGRASPINGPLANESAREGMATING_DIR1∩GMATING_DIR2∩GMATING_DIR3{P1/P1′,P2/P2′,P3/P3′}∩{P1/P1′,P3/P3′}N{P1/P1′,P2/P2′}{P1/P1′}THEAPPROACHINGDIRECTIONOFTHEENDEFFECTORISSELECTEDASTHENORMALVECTOROFTHEGRASPINGPLANESITISOBVIOUSTHATNOTALLPOINTSONTHEGRASPINGPLANECANBEGRASPEDTHEFOLLOWINGMETHODISUSEDTODETERMINETHEGRASPINGAREATHEENDEFFECTOR,WHICHISMODELEDASACUBOID,ISFIRSTADDEDINTHECADMODEL,WITHTHECONSTRAINTOFCOPLANARORTANGENTIALWITHTHEGRASPINGPLANEBEGINNINGATTHEEDGETHATISFARAWAYFROMTHEBASE_PARTINTHEMATINGDIRECTION,MOVETHEENDEFFECTORINTHEMATINGDIRECTIONALONGTHEGRASPINGPLANEUNTILTHEENDEFFECTORISFULLYINCONTACTWITHTHEPART,THEGRASPINGPLANEISFULLYINCONTACTWITHTHEENDEFFECTOR,ORACOLLISIONOCCURSRECORDTHEEDGEANDTHEDISTANCE,BOTHOFWHICHAREMEASUREDINTHEPART’SCOORDINATESYSTEM4SEPARATEGRADUALLYTHETWOPARTSALONGTHEMATINGDIRECTION,WHILECHECKINGINTERFERENCEINTHEOTHERDEGREESOFSEPARATION,UNTILNOINTERFERENCEOCCURSINALLOFTHEOTHERDEGREESOFSEPARATIONTHEREISOBVIOUSLYASEPARATIONDISTANCETHATASSURESINTERFERENCENOTTOOCCURINEVERYDEGREEOFSEPARATIONITISCALLEDTHESAFELENGTHINTHATDIRECTIONTHISLENGTHISUSEDFORTHECOLLISIONFREEPATHCALCULATION,WHICHWILLBEDISCUSSEDINTHEFOLLOWINGSECTION22ASSEMBLYSEQUENCESOMECRITERIACANBEUSEDTOSEARCHTHEOPTIMALASSEMBLYSEQUENCE,SUCHASTHEMECHANICALSTABILITYOFSUBASSEMBLIES,THEDEGREEOFPARALLELEXECUTION,TYPESOFFIXTURES,ETCFIG4GRASPINGPLANESFIG3GEOMETRICCONSTRAINTSOFSHAFTINHOLE799