附錄外文文獻(xiàn)及翻譯作者Arvidsson譯名阿維德森國籍瑞典原文出處FOREIGNPATENTDOCUMENTS(國外專利文獻(xiàn))Thetechnologyofendeffector.Theendeffectorisatypeofmechantronicsequipmentwhichsynthesizesthelastresearchachievementofengineandprecisionengine,micro-electronicsandcomputer,automationcontrolanddrive,sensorandmessagedisposeandartificialintelligenceandsoon.Withthedevelopmentofeconomicandthedemandforautomationcontrol,robottechnologyisdevelopedquicklyandalltypesoftherobotsproductsarecomeintobeing.Thepracticalityuseofrobotproductsnotonlysolvestheproblemswhicharedifficulttooperateforhumanbeing,butalsoadvancestheindustrialautomationprogram.Atpresent,theresearchanddevelopmentofrobotinvolvesseveralkindsoftechnologyandtherobotsystemconfigurationissocomplexthatthecostatlargeishighwhichtoacertainextentlimittherobotabroaduse.Todevelopmenteconomicpracticalityandhighreliabilityrobotsystemwillbevaluetorobotsocialapplicationandeconomydevelopment.Withtherapidprogresswiththecontroleconomyandexpandingofthemoderncities,theletofsewageisincreasingquickly:Withthedevelopmentofmoderntechnologyandtheenhancementofconsciousnessaboutenvironmentreserve,moreandmorepeoplerealizedtheimportanceandurgentofsewagedisposal.Activebacteriamethodisaneffectivetechniqueforsewagedisposal，Thelacunarisplasticisaneffectivebasementforactivebacteriaadhesionforsewagedisposal.Theabundancerequirementforlacunarisplasticmakesitisaconsequentfortheplasticproducingwithautomationandhighproductivity.Therefore,itisverynecessarytodesignamanipulatorthatcanautomaticallyfulfilltheplasticholding.Withtheanalysisoftheproblemsinthedesignoftheplasticholdingmanipulatorandsynthesizingtherobotresearchanddevelopmentconditioninrecentyears,aeconomicschemeisconcludedonthebasisoftheanalysisofmechanicalconfiguration,transformsystem,drivedeviceandcontrolsystemandguidedbytheideaofthecharacteristicandcomplexofmechanicalconfiguration,electronic,softwareandhardware.Inthisarticle,themechanicalconfigurationcombinesthecharacterofdirectioncoordinateandthearthrosiscoordinatewhichcanimprovethestabilityandoperationflexibilityofthesystem.Themainfunctionofthetransmissionmechanismistotransmitpowertoimplementdepartmentandcompletethenecessarymovement.Inthistransmissionstructure,thescrewtransmissionmechanismtransmitstherotarymotionintolinearmotion.Wormgearcangivevarytransmissionratio.Bothofthetransmissionmechanismshaveacharacteristicofcompactstructure.Thedesignofdrivesystemoftenislimitedbytheenvironmentconditionandthefactorofcostandtechnicallever.Thestepmotorcanreceivedigitalsignaldirectlyandhastheabilitytoresponseouterenvironmentimmediatelyandhasnoaccumulationerror,whichoftenisusedindrivingsystem.Inthisdrivingsystem,open-loopcontrolsystemiscomposedofsteppingmotor,whichcansatisfythedemandnotonlyforcontrolprecisionbutalsoforthetargetofeconomicandpracticality.Onthisbasis，theanalysisofsteppingmotorinpowercalculatingandstyleselectingisalsogiven.Theanalysisofkinematicsanddynamicsforobjectholdingmanipulatorisgivenincompletingthedesignofmechanicalstructureanddrivesystem.Kinematicsanalysisisthebasisofpathprogrammingandtrackcontrol.Thepositiveandreverseanalysisofmanipulatorgivestherelationshipbetweenmanipulatorspaceanddrivespaceinpositionandspeed.Therelationshipbetweenmanipulatorstippositionandarthrosisanglesisconcludedbycoordinatetransformmethod.Thegeometrymethodisusedinsolvinginversekinematicsproblemandtheresultwillprovidetheoryevidenceforcontrolsystem.Thischamfer,Newton-Euripidesmethodisusedinanalysisdynamicproblemof七h(yuǎn)ecleaningrobotandthearthrosisforceandtorquearegivenwhichprovidethefoundationforstepmotorselectingandstructuredynamicoptimalting.Controlsystemisthekeyandcorepartoftheobjectholdingmanipulatorsystemdesignwhichwilldirecteffectthereliabilityandpracticalityoftherobotsysteminthedivisionofconfigurationandcontrolfunctionandalsowilleffectorlimitthedevelopmentcostandcycle.WiththedemandofthePCL-839card,thePCcomputerwhichhasa.tightstructureandiseasytobeextendedisusedastheprincipalcomputercellandtakesthefunctionofsysteminitialization,dataoperationanddispose,stepmotordriveanderrordiagnoseandsoon.Atthesametime,theconfigurationstructurefeatures,taskprinciplesandthepositionfunctionwithhighprecisionofthecontrolcardPCL-839areanalyzed.Hardwareisthematterfoundationofthecontrol.Systemandthesoftwareisthespiritofthecontrolsystem.Thetargetofthesoftwareistocombineallthepartsinoptimizingstyleandtoimprovetheefficiencyandreliabilityofthecontrolsystem.Thesoftwaredesignoftheobjectholdingmanipulatorcontrolsystemisdividedintoseveralblockssuchassysteminitializationblock,dataprocessblockanderrorstationdetectanddisposemodelandsoon.PCL-839cardcansolvethecommunicationbetweenthemaincomputerandthecontrolcellsandtakethemeasureofreducingtheinfluenceoftheoutersignaltothecontrolsystem.Thestartandstopfrequencyofthestepmotorisfarlowerthanthemaximumrunningfrequency.Inordertoimprovetheefficiencyofthestepmotor,theincreaseanddecreaseofthespeedismustconsideredwhenthestepmotorrunninginhighspeedandstartorstopwithgreatacceleration.Theincreaseanddecreaseofthemotorsspeedcanbecontrolledbythepulsefrequencysenttothestepmotordrivewitharationalmethod.Thiscanbeimplementedeitherbyhardwareorbysoftware.Astepmotorshiftcontrolmethodisproposed,whichissimpletocalculate,easytorealizeandthetheorymeansisstraightforward.Themotorsaccelerationcanfitthetorque-frequencycurveproperlywiththismethod.Andtheamountofcalculationloadislessthanthelinearaccelerationshiftcontrolmethodandthemethodwhichisbasedontheexponentialruletochangespeed.Themethodistestedbyexperiment.In1997,TheJapancareerdevelopment(NASDA)emissiontechnologyexperimentSatelliteETS-VII(TheeTestSatellite),isTheearliestdemonstrationofon-orbitcapturetechnologyindependentverificationspacerobotsystem,asshowninfigure4.IntheETS-VIItrackingonaXiaoLiangastarofmechanicalarm.AsetofNASDAisdeveloped,thelengthofthe2mforsixdegreesoffreedomERAofmechanicalArmRobotArm(ETS)-VII,itcontainssingle-degree-of-freedom,attheendoftheactuatorisusedtocapturethestandardinterfaceunitcanbereplaced,threeendactuatoris120inthesupportplatformontheperiphery,AnothersetofTongChanShengisdevelopedandAdvancedRoboticmanipulatorsARH(Hand),onARHby5dofofmechanicalarmandwiththree(thumbandforefingerandmiddlefinger,)ofmultisensorendactuators,threedexterousHandfingersthroughsportsorganizationofeachjoint,becauseonlyonepairofrotationofdexterousfingerswithbettersex,therefore,moredexterousHandreferstothemovementofrotation；deputyadoptManymeansofdexteroushandinhandcanincreasetheconstraint,thegrabobjectsandoperationoftheadaptabilityarequitegood,whileconsideringthedrivingcomponentsareadopted,thelayoutofthepalm,dexteroushandstructureofconcretestructuredependsonthepalmofthemotorandtransmissionoftheform.Mostcurrentdexteroushandusingelectricdrive,hydraulicpressuredriveandthewaythatonlyafewdexteroushandbytheshapememoryalloy(SMA)drive,piezoelectricdrivenandscalabilitypolymerdrivenewdrivetechnology.Duetotheelectricdrivemodehasconvenientcontrol,lowcost,maturetechnology,theadvantagesofdesignasthedcservomotordrivingcomponents.Transmissionsystemismoredexteroushandreferstothestructuredesign.Followthecordtransmissionwaytodriveprincipleandpeoplerealizethemovementandforceoflong-distancetransmission,cansatisfytherequirementsfingers.ThisdesignUSESaropeandpulley,thetransmissionwayofeachfingerjointslong-distancedrivingthreeandsixsoftcable.Threemultisensorend-effectorcontainingfivekindsofsensors,includingacamera,threeclosesensor,asoftsensor,asoftsensorandaforce/torquesensor,hashighreliabilityandindependentability.Handcanfinishfuel,replacebatteries,tightenthescrewsfloatingobjects,andloosenetc.Precisegrabandoperationaltasks.ETS-VIIon-orbitdemonstrationoftwoimportantduringtheexperiment,thetwofloatingobjectthroughthetestcapturemanipulatorendactuatorstocapture.Inordertocompletetheobjectofdifferentoperation,ETS-VIIendactuatordesignedthreeGPF(GRAPPLEwithtorqueFIXTURE)interface:thestandardinterfaceGPF-Sinterface,formostoftheload,includingORUvolitional:electricinterfaceofGPF-M(GPFMITI),mainlyforthemechanicalarminterfacewiththreemeansofcompleteconnection,dexteroushandoperation:usedforNALtrussstructureoftheoperationofGPF-N(GPFNAL)interfa