外文翻译一种简易足式移动机器人Word文档格式.docx
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外文翻译一种简易足式移动机器人Word文档格式.docx
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Robotisatypeofmechantronicsequipmentwhichsynthesizesthelastresearchachievementofengineandprecisionengine,micro-electronicsandcomputer,automationcontrolanddrive,sensorandmessagedisposeandartificialintelligenceandsoon.Withthedevelopmentofeconomicandthedemandforautomationcontrol,robottechnologyisdevelopedquicklyandalltypesoftherobotsproductsarecomeintobeing.Thepracticalityuseofrobotproductsnotonlysolvestheproblemswhicharedifficulttooperateforhumanbeing,butalsoadvancestheindustrialautomationprogram.Atpresent,theresearchanddevelopmentofrobotinvolvesseveralkindsoftechnologyandtherobotsystemconfigurationissocomplexthatthecostatlargeishighwhichtoacertainextentlimittherobotabroaduse.Todevelopmenteconomicpracticalityandhighreliabilityrobotsystemwillbevaluetorobotsocialapplicationandeconomydevelopment.
Withtheanalysisoftheproblemsinthedesignoftheplasticholdingmanipulatorandsynthesizingtherobotresearchanddevelopmentconditioninrecentyears,aeconomicschemeisconcludedonthebasisoftheanalysisofmechanicalconfiguration,transformsystem,drivedeviceandcontrolsystemandguidedbytheideaofthecharacteristicandcomplexofmechanicalconfiguration,electronic,softwareandhardware.Inthisarticle,themechanicalconfigurationcombinesthecharacterofdirectioncoordinateandthearthritiscoordinatewhichcanimprovethestabilityandoperationflexibilityofthesystem.Themainfunctionofthetransmissionmechanismistotransmitpowertoimplementdepartmentandcompletethenecessarymovement.Inthistransmissionstructure,thescrewtransmissionmechanismtransmitstherotarymotionintolinearmotion.Wormgearcangivevarytransmissionratio.Bothofthetransmissionmechanismshaveacharacteristicofcompactstructure.Thedesignofdrivesystemoftenislimitedbytheenvironmentconditionandthefactorofcostandtechnicallever.'
'
Thestepmotorcanreceivedigitalsignaldirectlyandhastheabilitytoresponseouterenvironmentimmediatelyandhasnoaccumulationerror,whichoftenisusedindrivingsystem.Inthisdrivingsystem,open-loopcontrolsystemiscomposedofsteppingmotor,whichcansatisfythe
demandnotonlyforcontrolprecisionbutalsoforthetargetofeconomicandpracticality.Onthisbasis,theanalysisofsteppingmotorinpowercalculatingandstyleselectingisalsogiven.
Thewalkorganizationbecauseitisoppositetotheordinarywheeledorganizationhasmanyuniquesuperiority,obtainsthewidespreadapplicationinmorespecialdomains.Atpresentunceasinglyappearsonhemarketbythenewmulti-groupswalkorganization,theirmostlyintellectualizationdegreehigher,theorganizationandthecontroliscomplex.
Thepeoplefrequentlymustdrawsupporttothewalkorganizationresearchtoanimal'
scarefulobservationandthemovementmechanismanalysis.Wenote,insectwhensmoothunimpededterrainsurfacebarrel,aremanybyinturntrianglegaitmovement,namelysixfeetwilldivideintotwogroups,thebodilylateraroundfootandtheoppositesidecenterfullyrespectivelytookagroup,willformastabletrianglestrut.Twogroupsoflegsinturnswingingwithstrut,realizationinsect'
squickmovement.Thisarticleproposedthesimplefoot-likerobothas6strutsfeet,imitatedtheinsecttowalkthegait,couldgoforward,thebacklashontheflatland,aboutthecurve,whenmetthebarriercouldvoluntarilyavoid.
1organizationanalysis
Designingstartswithaneed,realorimagined.Existingapparatusmayneedimprovementsindurability,efficiently,weight,speed,orcost.Newapparatusmaybeneededtoperformafunctionpreviouslydonebymen,suchascomputation,assembly,orservicing.Withtheobjectivewhollyorpartlydefined,thenextstepindesignistheconceptionofmechanismsandtheirarrangementsthatwillperformtheneededfunctions.Forthis,freehandsketchingisofgreatvalue,notonlyasarecordofone
’sthoughtsandasanaidindiscussionwithothers,butparticularlyforcommunicationwithone’sownmind,asastimulantforcreativeideas.
Whenthegeneralshapeandafewdimensionsoftheseveralcomponentsbecomeapparent,analysiscanbegininearnest.Theanalysiswillhaveasitsobjectivesatisfactoryorsuperiorperformance,plussafetyanddurabilitywithminimumweight,andacompetitivecost.Optimumproportionsanddimensionswillbesoughtforeachcriticallyloadedsection,togetherwithabalancebetweenthestrengthoftheseveralcomponents.Materialsandtheirtreatmentwillbechosen.Theseimportantobjectivescanbeattainedonlybyanalysisbasedupontheprinciplesofmechanics,suchasthoseofstatesforreactionforcesandfortheoptimumutilizationoffrication;
ofdynamicsforinertia,acceleration,andenergy;
ofelasticityandstrengthofmaterialsforstressanddeflection;
andoffluidmechanicsforlubricationandhydrodynamicdrives.
Finally,adesignbaseduponfunctionandreliabilitywillbecompleted,andaprototypemaybebuilt.Ifitstestsaresatisfactory,andifthedeviceistoproducedinquantity,theinitialdesignwillundergocertainmodificationsthatenableittobemanufacturedinquantityatalowercost.Duringsubsequentyearsofmanufactureandservice,thedesignislikelytoundergochangesasnewideasareconceivedorasfurtheranalysisbasedupontestsandexperienceindicatealterations.Salesappeal,customersatisfaction,andmanufacturecostareallrelatedtodesign,andabilityindesignisintimatelyinvolvedinthesuccessofanengineeringventure.
1.1overallconstructionsdesign
Overallconstructionsdesignshowsissixfeetshiftingmechanismoverallconstructiondiagram.Thisorganizationstructuresimpler,becausethetorsoarepartialandsixfeet,thetensionbarandthedirectcurrentelectricmotorcompositions.Iftherace1and3connectsbytensionbara;
Thefoot4andthefoot6bythetensionbarfconnection,theymaycircleonthetorsorespectiveaxlecentertoswingthecertainangleinthehorizontalplane;
Thefoot2andthefoot5alsobythetensionbarconnection,maycircleonthetorsotheaxlecentertoswingthecertainangleintheverticalplane.Thus,thefoot1andthefoot3aswellastensionbaraandthebodyformaplaneparallelfourlinkmotiongear;
Thefoot4andthefoot6aswellastensionbarfandthebodyformanotherplaneparallelfourlinkmotiongear.Thissixfeetshiftingmechanismusesthreesetsofmotor-drivens,setofmotor-drivenfoot1andthefoot3,thesecondsetofmotor-drivenfoot4andthefoot6,thethirdsetofmotor-drivenactuationfoot2andthefoot5,therelativelyformereachkindofwalk
organization,thisorganizationmaincharacteristicis:
Structuresimple,gaitnovel,thecontroliseasytorealize.Separatelyactuatesthreesetsofelectricalmachinerymovementstobeallowedtorealizetheorganizationtowalkinthegroundbythedifferentgait,functionandsoonrealizationadvance,backlash,curve.
1.2gaitsdesigns
Thewalkorganizationwalksthewaytodivideintothestaticstatetowalkdynamicallywithwalkstwokinds.Thestaticstatewalksthewayisreferstothewalkorganizationwhiletowalkintheprocessthroughouttohavethreeabovethefoot;
Thetendencywalksthewayisreferstoexceptforthisothertowalktheway.Moreaccuratesaying,thestaticstatewalksisreferstothewalkorganizationintowalkintheprocess,itscenterofgravityalwaysisinthestablestrutplane.Thestrutplaneisreferssupportsthepolygonwhichbetweenthefootcomposes.Inordertoobtainabetterstability,thisarticledesignsdividesintosixfeettwogroups,afterabodilysidefrontfoot,thefootandanothersidecenterfullytookagroup,formsastabletrianglestrut.Twogroupsoffullyinturnswingingwithstrut,realizationorganizationmigration.
Theoreticallysays,sixfullorganizationsmaysupplythechoicethegaittobemore,butalsoshouldfollowthegeneralcriterion:
(1
)choosesthegaittobesupposedtoconformtotheanimaltowalkthecustom.Theexperienceandthetheoreticalanalysisindicatedthat,theanimalwalksthewayisinthenaturemostreasonable,thesewalkthewaynotonlytobeabletocausethewalkorganizationtobebalanced,moreovercancausetheenergydecrementwhichconsumestothelowestdegree.
(2)choosesthegaittobesupposedtocausethecontrolasfaraspossiblesimplicity,walksdifferentlywiththeanimal,thewalkorganizationwalksmustjoinbytheartificialcontrol,ifchoosesinthegaitexistencecontrolthedifficultyevenwithdifficultytorealize,theobvioussignificanceisnotbig.Thesynthesisconsideredthesetwocriteriaaswellastheorganizationwholeconstitution,walksthegaittotheorganizationtomakethefollowingplan.
1.2.1advanceswalksthegait
Timesixfullorganizationsadvanceswalksthegaitlikechart1-1toshow.Aftersixfullorganizationsstartthemovement,thefirststep,thefoot2andthefoot5swingsanangle,causesleftsideofthebodytolift,thefoot1,thefoot3andthefoot5ishanging,thefoot2,thefoot4andfoot6,andformatriangletosupporttheregion.Ifwalksintheprocess,thisorganizationcenterofgravitythroughoutislocatedinthistriangle,thensixfullorganizationsareatthesteadystate,asfordoesnotthrowdown.Thesecondstep,wearstheplacethefoot4andthefoot6relativebodiesswingsthecertainangletoafter,realizesthebodyrelativegroundtothefrontfirststepofmigration.Thethirdstep,thehangingfoot1andthefoot3swingsanangletofront
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