通过优化柔性椭球体对欠驱动冗余度机械臂的自重构外文文献翻译中英文翻译外文翻译Word文档格式.docx
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通过优化柔性椭球体对欠驱动冗余度机械臂的自重构外文文献翻译中英文翻译外文翻译Word文档格式.docx
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通过优化柔性椭球体对欠驱动冗余度机械臂的自重构外文文献翻译中英文翻译外文翻译@#@SELFRECONFlGURATlONOFUNDERACTUATEDREDUNDANTMANIPULATORSWITHOPTIMIZlNGTHEFLEXIBILITYELLlPSOlD@#@HeGuangpingSchooIofMechanicaIandElectricalEngineering,NorthChinaUniversityofTechnology,Beijing100041,China@#@LuZhenSchooIofAutomationScienceandElectricaIEngineering.BeijingUniversityofAeronauticsandAstronautics,Beijing100083,China@#@Abstract:
@#@Themulti—modesfeature,themeasureofthemanipulatingflexibility,andself-reconfigurationcontro1methodoftheunderactuatedredundantmanipulatorsareinvestigatedbasedontheopti—mizingtechnology.Therelationshipbetweentheconfigurationofthejointspaceandthemanipulatingflexibilityoftheunderactuatedredundantmanipulatorisanalyzed.anewmeasureofmanipulatingflexibilttyellipsoidfortheunderactuatedredundantmanipulatorwithpassiveointsinLockedmodejsproposed,whichcanbeusedtogettheoptimalconfigurationfortherealizationoftheself-reconfigurationcontrol.Furthermore.atime—varyingnonlinearcontro1methodbasedonhar.monicinputsissuggestedforfulfillingtheself-reconfiguration.Asimulationexampleofathree—Dofsunderactuatedmanipulatorwithonepassivejointfeaturessomeaspectsoftheinvestigations.@#@Keywords:
@#@UnderactuatedmanipulatorsSelfreconfigurationOptimizationNonlinearcontro1@#@0INTRODUCTION@#@Underactuatedmechanismandmanipulatorcanbeusedinsomefieldssuchasspacetechnology,cooperationrobotandmetamorphicmechanism.Inthespacefield,forthesakeofnolosingtheusefulfunctionorrealizingthereconfigurationofthesystem.thefaulttolerancebasedontheunderactuatedtechnologyisessentialwhensomeactuatedcomponentsrevealsometroubles⋯Anunderacmatedmanipulatoralsocanbedesignedasacoopera.tionrobotthatistosayC0B0T.ThedriversoftheCOBOTarenotforacreatingthemachinebutforprovidingaldnematicsconstraintthatisusuallynonholonomic.TheC0B0Tneedsoutside1oteethatisprovidedbyoperatorandcancompletesomeaccurateapphcatlonssuchasinbiologyengineenng,surgical,andsemiconductormanufactureandsoon.Inthefieldofmechanisms,themetamorphicmechanismhasmultimodesandcanbetrans.formedfromonemodetoanother,hadbeenpresentedrecentlyt,ThetransformationbetweenthediferentmodesislikelytoresultinchangeoftheDofsorconstraintsofthemetamorphicmechanism.Itisobviouslythatcontroltheunderactuated.Redundantactuatedandflexiblemechanismcannotbeevaded.Therefore。
@#@theunderacmatedsystembecomesanattractiveresearchfieldgradually@#@Theresearchesontheunderacmatedmanipulatorsmanifestthesystemcannotbecontrolledbykinematics.ThemotionofthepassiveiointcanbemovedbythedynamiccouplingonlyL4,3J.Jain,etalhaveshownthatthedynamiccouplingissecondordernonholonomiccons仃aints0ftheunderacmatedmanipulator.Incontrastwiththefactthatnonholonomicsystemisstdiedexten.sivelyaboutonehundredofyearsinmechanics.butthemotionplanningandcontrolofthenonholonomicsystemiSnolongerthantwodecade.andthestdieslimitedinthefirstordernon.holonomicsystem(suchaswheelmovingrobott/J,hoppingrobottandspacerobotWJ)mainly~Intheaspectoftheresearchontheun—deractuatedmanipulators.Anthoney.etalthaveinvestigatedthestabilityofthemotion.Arai.etalLIIJhaveproposedatime。
@#@Scalingmethodandachievedthepositioncontrolofthes3stem.Lee.etalLlZhavepresentedseveralkindsofnonlinearcontrolmetbodforun—deractuatedacrobot.Theseresearchesonthecontrolofunderac.matedsystemhaverevealedthatthesemethodsarenothingbutnonlinear,timevarying.anddiscreteinnature.ThefactismatBrockethaveprovedthatthereisnosmoothandstaticstatefeedback1awthatstabilizesthesystemtoagivenconfignrationasymptotically.Anobviousfeatureofthenonholonomicsystemistllatitiscontrollableinaconfigurationspacewithmoredimen.sionsthanthatoftheinputspace.S0matmuchatentionshavebeenpaidonthecontrolofthenonholonomicsystem.@#@TheunderactuatedmechanismormanipulatoralsoiSdisobedienttothefundamentalprincipleofthemechanismdesigningtheorythatjsthenumberoftheacmatedcomponentsshouldequaltothatoftheDOFsofthemechanism.Theunderactuatedmanipulatorhadbeensuggestedfirstlyisnotbyreasonthatithassomemeritsdistinctly,butsomeresearchesshowthattheunderactuatedmechanismdesignedpurposelyalsoisaluable.Forexample.Rivhter,havemeasuredmulti.dimensionsforcebyaflexibleunderactuatedmanipulator,Nakamura.etalthavedesignedanonholonomicmanipulatorbasedonthewheelrollingcontactandcontrolledafourDOFsplanarmanipulatorbytwo.Inputs,He.etalhaveproposedacollision.freemotionplanalgorithmfortheunderactuatedredundantmanipulator.Basedontheresultsthathavebeendiscussedabove。
@#@weCallconcludethattheinvesti
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