机械手外文翻译_4.docx
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1、机械手外文翻译本科毕业设计(论文)外文翻译附外文原文学院:机械与控制工程学院课题名称:搬运机械手的构造和液压系统设计专业(方向):机械设计制造及其自动化机械装备班级:学生:指导老师:日期:2021年3月10日Proceedingsofthe33rdChineseControlConferenceJuly28-30,2021,Nanjing,ChinaTheRemoteControlSystemoftheManipulatorSUNHua,ZHANGYan,XUEJingjing,WUZongkaiCollegeofAutomation,HarbinEngineeringUniversity,H
2、arbin15000E-mail:Abstract:Aremotecontrolsystemofthe5degreeoffreedommanipulatorwasdesigned.Thismanipulatorwasinstalledintoourmobilerobottoconstitutearemoterescuerobot.TheDenavit-Hartenbergmethodwasusedtoestablishthekinematicmodelsandthepathplanningofthemanipulatorwasresearched.Theoperatorcouldremotec
3、ontrolthemanipulatorbytheinteractiveinterfaceofPCwhichcoulddisplaymovingpictureandvariousdataofthemanipulator.TheservosofthemanipulatorwerecontrolledbytheslaveFPGAcontroller.Inaddition,theslaveFPGAcontrollercommunicatedwiththePCviathewirelesscommunicationmodule.OwingtotheembeddedNiosIIprogramandIP(I
4、ntellectualProperty)coregeneratingPWMwavesinFPGA,thesystemcouldcontrolthemultipleservosfastandflexible.Inordertoachievereal-timeoperationandsimulation,theinteractiveinterfacewasestablishedbythemixedprogrammingofVCandMATLAB.KeyWords:Themanipulator;Remotecontrol;Denavit-Hartenberg;FPGA;Human-computeri
5、nteraction1IntroductionWiththedevelopmentofthemicroelectronictechniqueandthecomputertechnology,themanipulatorhasbecomeessentialequipmentinthemanufacturingindustry.Asweallknown,themanipulatorisusuallyappliedtoaccomplishdull,onerousandrepeatedphysicalwork,especiallyusedtosubstitutethemanualoperationun
6、derthedangerousandthehazardousenvironmentsuchasthecorrosionandthehightemperature.Inthispaper,themanipulatorwasinstalledourmobilerobot.Thetele-operationsystemofthismanipulatorwasdesigned.ThewholesystemisonstitutedbyPCandslaveFPGA.TheoperatorcanremotecontrolthemanipulatorbyPC.Thewirelesscommunicationw
7、asusedfortransmittingdatabetweenPCandFPGA.FPGAiscontrollerofthethemanipulatorinthemobilerobot.FPGAhastheabundantinternalresourceandIPcores.AndacentralcontroloptionwasbuiltviaanembeddedNiosIIprogramandanIPcoreinFPGA.Furthermore,VeriloglanguagewasadoptedtodesigntheIPcorewhichgenerateddigitalPWMwavesfo
8、rcontrollingthemanipulator.Therefore,thissystemcouldreachhigherprecisionandeasytodebug.MATLABsoftwarewasadoptedtobuildthekinematicmodelsofmanipulator.AndusingD-H(theacronymofDenavit-Hartenberg)methodtosolvetheforwardandinversekinematicequationsofthemanipulator,toanalyzethemotivation,toplanandtrackth
9、emotionspath.Inaddition,agoodinterfaceofhuman-computerinteractionwasenhancedintheremotecontrolsystemofthemanipulatorinPC.Moreover,themanipulatorsimulationtechnologywasbuiltbyusingthemixedprogrammingofVCandMATLAB.Thus,themotionchoreographswasgotquicklyandeasily,alsogreatlysavedtimeandcutthecost.2Mani
10、pulatorModelandPathPlanningAtfirst,themotionmodelofthemanipulatorwasbuilt.Then,thekinematicsimulationanditspathplanningwereresearched.Theseworksprovidedthefoundationforthedesignoftheremotecontrolsystemofthemanipulator.2.1MotionModeloftheManipulatorThemanipulatorwasregardedasanopenloopkinematicchain.
11、Itwasconstitutedbyfiverotaryjoints.Anditsoneendwasfixedonabasewhiletheotherendwasusedtoachievetheabilityofgrabbing.Therefore,itisbettertoestablishachaincoordinateframeasshowninFig.1.Theterminalpositionandattitudewasdeterminedviausingforwardkinematicequationafterknowingtherotatingangleofeveryjoint.Th
12、eD-HparametertableshownasTable1wasestablishedbyusingtheframesinFig.1.Fig.1CoordinateframesofmechanicalarmTable1D-HParametersoftheRobotArmDuetoD-Hmethod:T=An+1n+1n=(Cn+1?Sn+1Sn+1CanCn+1Can0an?San?Sandn+1Sn+1SanCn+1San00CanCandn+101)WhereCn+1=cosn+1,Sn+1=sinn+1,Can=cosan,San=sinan.Thetransformationmat
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