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：搬运机械手的结构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：指导教师：日期：2015年3月10日桂林理工大学本科毕业设计·外文翻译1Proceedingsofthe33rdChineseControlConferenceJuly28-30,2014,Nanjing,ChinaTheRemoteControlSystemoftheManipulatorSUNHua,ZHANGYan,XUEJingjing,WUZongkaiCollegeofAutomation,HarbinEngineeringUniversity,Harbin15000E-mail:[e-mail]:Aremotecontrolsystemofthe5degreeoffreedommanipulatorwasdesigned.Thismanipulatorwasinstalledintoourmobilerobottoconstitutearemoterescuerobot.TheDenavit-Hartenbergmethodwasusedtoestablishthekinematicmodelsandthepathplanningofthemanipulatorwasresearched.TheoperatorcouldremotecontrolthemanipulatorbytheinteractiveinterfaceofPCwhichcoulddisplaymovingpictureandvariousdataofthemanipulator.TheservosofthemanipulatorwerecontrolledbytheslaveFPGAcontroller.Inaddition,theslaveFPGAcontrollercommunicatedwiththePCviathewirelesscommunicationmodule.OwingtotheembeddedNiosIIprogramandIP(IntellectualProperty)coregeneratingPWMwavesinFPGA,thesystemcouldcontrolthemultipleservosfastandflexible.Inordertoachievereal-timeoperationandsimulation,theinteractiveinterfacewasestablishedbythemixedprogrammingofVCandMATLAB.KeyWords:Themanipulator;Remotecontrol;Denavit-Hartenberg;FPGA;Human-computerinteraction1IntroductionWiththedevelopmentofthemicroelectronictechniqueandthecomputertechnology,themanipulatorhasbecomeessentialequipmentinthemanufacturingindustry.Asweallknown,themanipulatorisusuallyappliedtoaccomplishdull,onerousandrepeatedphysicalwork,especiallyusedtosubstitutethemanualoperationunderthedangerousandthehazardousenvironmentsuchasthecorrosionandthehightemperature.Inthispaper,themanipulatorwasinstalledourmobilerobot.Thetele-operationsystemofthismanipulatorwasdesigned.ThewholesystemisonstitutedbyPCandslaveFPGA.TheoperatorcanremotecontrolthemanipulatorbyPC.ThewirelesscommunicationwasusedfortransmittingdatabetweenPCandFPGA.FPGAiscontrollerofthethemanipulatorinthemobilerobot.FPGAhastheabundantinternalresourceandIPcores.AndacentralcontroloptionwasbuiltviaanembeddedNiosIIprogramandanIPcoreinFPGA.Furthermore,VeriloglanguagewasadoptedtodesigntheIPcorewhichgenerated桂林理工大学本科毕业设计·外文翻译2digitalPWMwavesforcontrollingthemanipulator.Therefore,thissystemcouldreachhigherprecisionandeasytodebug.MATLABsoftwarewasadoptedtobuildthekinematicmodelsofmanipulator.AndusingD-H(theacronymofDenavit-Hartenberg)methodtosolvetheforwardandinversekinematicequationsofthemanipulator,toanalyzethemotivation,toplanandtrackthemotion’spath.Inaddition,agoodinterfaceofhuman-computerinteractionwasenhancedintheremotecontrolsystemofthemanipulatorinPC.Moreover,themanipulatorsimulationtechnologywasbuiltbyusingthemixedprogrammingofVCandMATLAB.Thus,themotionchoreographswasgotquicklyandeasily,alsogreatlysavedtimeandcutthecost.2ManipulatorModelandPathPlanningAtfirst,themotionmodelofthemanipulatorwasbuilt.Then,thekinematicsimulationanditspathplanningwereresearched.Theseworksprovidedthefoundationforthedesignoftheremotecontrolsystemofthemanipulator.2.1MotionModeloftheManipulatorThemanipulatorwasregardedasanopenloopkinematicchain.Itwasconstitutedbyfiverotaryjoints.Anditsoneendwasfixedonabasewhiletheotherendwasusedtoachievetheabilityofgrabbing.Therefore,itisbettertoestablishachaincoordinateframeasshowninFig.1.Theterminalpositionandattitudewasdeterminedviausingforwardkinematicequationafterknowingtherotatingangleofeveryjoint.TheD-HparametertableshownasTable1wasestablishedbyusingtheframesinFig.1.Fig.1CoordinateframesofmechanicalarmTable1D-HParametersoftheRobotArm桂林理工大学本科毕业设计·外文翻译3DuetoD-Hmethod:𝑇=𝐴𝑛+1𝑛+1𝑛=(𝐶𝜃𝑛+1−𝑆𝜃𝑛+1𝑆𝜃𝑛+1𝐶𝑎𝑛𝐶𝜃𝑛+1𝐶𝑎𝑛0𝑎𝑛−𝑆𝑎𝑛−𝑆𝑎𝑛𝑑𝑛+1𝑆𝜃𝑛+1𝑆𝑎𝑛𝐶𝜃𝑛+1𝑆𝑎𝑛00𝐶𝑎𝑛𝐶𝑎𝑛𝑑𝑛+101)WhereC𝜃𝑛+1=cos𝜃𝑛+1,S𝜃𝑛+1=sin𝜃𝑛+1,C𝑎𝑛=cos𝑎𝑛,S𝑎𝑛=sin𝑎𝑛.Thetransformationmatrixofeveryjointwasgivenbyequation(2).𝑇10=(cos𝜃1sin𝜃1sin𝜃1cos𝜃1000000001001)𝑇21=(cos𝜃2−sin𝜃200001𝑑1−sin𝜃2−cos𝜃2000001)𝑇32=(cos𝜃3−sin𝜃3sin𝜃3cos𝜃3000000001𝑑201)𝑇43=(cos𝜃4−sin𝜃40000−1−𝑑3sin𝜃4cos𝜃4000001)𝑇54=(cos𝜃5−sin𝜃5sin𝜃5cos𝜃5000000001𝑑401)𝑇50=(𝑛𝑥𝑛𝑥𝑛𝑦𝑛𝑦𝑛𝑥𝑛𝑥𝑛𝑦𝑛𝑦𝑛𝑧𝑛𝑧00𝑛𝑧𝑛𝑧01)=𝑇10𝑇2∗1𝑇3∗2𝑇4∗3𝑇5∗4(2)Whereunitvector𝑛→,𝑜→,𝑎→inequation(2)was𝑛→=𝑛𝑜𝑟𝑚𝑎𝑙,𝑛→=𝑜𝑟𝑖𝑒𝑛𝑡𝑎𝑡𝑖𝑜𝑛,𝑛→=𝑎𝑝𝑝𝑟𝑜𝑎𝑐ℎ,𝑛→=𝑝𝑜𝑠𝑖𝑡𝑖𝑜𝑛.Parametersofmechanicalarmweregivenby𝑑1=85mm,𝑑2=116mm,𝑑3=85mm,𝑑4=95mm.Thereforetheforwardkinematicequationwasdeterminedbytakingeveryparameterinequation(3).𝑃50=(180𝐶𝜃1𝑆(𝜃2+𝜃3)+116𝐶𝜃1𝑆𝜃2180𝑆𝜃1𝑆(𝜃2+𝜃3)+116𝐶𝜃1𝑆𝜃285+116𝐶𝜃2+180𝐶(𝜃2+𝜃3))(3)Inpracticalapplication,themanipulatorwasadoptedtograbobjects.Thisrequiredthatthefixedpositionwasgivenfromterminaltotargetlocation.Thatwastheinversekinematicanalysisofmanipulator.Inversetransformationwasusedtodetermineangleof桂林理工大学本科毕业设计·外文翻译4everyrotaryjointtowardtheestablishedcoordinates.Andtheusedmethodofinversetransformationwasthecommonmethodtosolvesuchproblem(thismethodalsoknownasalgebraicmethod).Usinginversetransformation𝑇𝑛𝑛−1−1separatelytotheleftmultiplicationwith𝑇=50𝑇10𝑇2∗1𝑇3∗2𝑇4∗3𝑇5∗4,