虚拟环境下机器人远程控制

:2002-10-17:(59889505);005507008:100622343(2003)0320202031,1,1,MarcoRavera2,AlbertoRovetta2(1.CIMS200030;2.):,,,,,,:;;:TP391.9;TP242:A12(VirtualEnvironment),(),,,/,,,[2],,,,,[3],,,Internet,1,:,,1,,;,,,,,/,2:,:1.1,4(1)(),,:19320036MachineDesignandResearchVol.19No.3Jun.,2003©1995-2003TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.,Pro/EUGMultigen,,VRML,,,,,,(OpenGL),,(2),,(CartesianCoordinateSystem),;(JointCoordinateSystem),,,n,:3Sankyo4(1):ˆ=(1,2,3,,n)(2):ˆ=(1,2,3,,n)(3):P=(x,y,z,h,p,r)=F(1,2,3,,n),1n,Û1Ûn,P6,P1n,,,;,,,,,,(3),,,,,,,(2),,,,,,,,,1.2,,,:,;,,,,,2:(1),,,(2),,,,2,,:(1)SankyoSR84384,3(2),Envision/VR[5],,4(3)Sankyo,Envision/VR(4)Envision/VR123:©1995-2003TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.6Internet78,,5(5)MicrosoftSpeechAPI5.0,3::movejointntom:n,14,m;:movealongpathp:p/:getobjectAputobjectback:A(6)InternetWinsock2:DOF:joint1,joint2,,jointk:joint1jointk1k(7):,,:,,,,,,,,,,36,7,,GETOBJECTA,,,8,,4,/(13)2219©1995-2003TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.,;,,,,,,,:[1],,,.[J].,1999,(3):1417.[2].[D].:,1996.[3],,.[J].,1998,(2):48.[4].[D].:,2001.[5].[D].:,2001.[6].[M].:,1996.[7],,.[J].,1996,(4):1720.[8],,,[J].,2001,(2):5153.[9],.[J].,2001,(1):14.[10],,.[J].,2000:3739.[11],,.[J].,2000,13(2):2224.[12]RolfIsermann.ModelingandDesignmethodologyforMecha2tronicsystem[J].IEEE/ASME,Transactionsonmechatronics,1966,1(1):1628.[13]JurgenGausemeier,MartinFlath,StefanMohringer.ConceptualDesignofMechatronicsSystemsSupportedbySemi-formalSpecification[A].IEEE/ASMEInternationalConferenceonAd2vancedIntelligentMechatronicsProceedings8-12July2001Como[C].Italy:888892.[14]JurgenGausemeier,MartinFlath,StefanMohringer.ModelingandevalutionofPrincipleSolutionsofMechatronicSystems,Ex2emplifiedbyTypePressureControlinAutomotiveSystems[A].InternationalConferenceonEngineeringDesignICED01Glas2gow[C].2001.[15]PorterID.SchemebuilderMechatronics[A].ProceedingsofEn2gineeringdesignConference[C].1998.[16]Dr.JohnCounsell,IanPorter,DavidDawson,MarcusDuffy.SchemebuilderComputerAidedConceptualDesign,Scheme2builder.computeraidedknowledgebaseddesignofmechatronicssystems.(http:).[17],,.[J].,1999,11(3):262265.[18],,,.[J].,1996,(3):711.[19]JBurr.ATheoreticalApproachtoMechatronicsDesign[D].In2stituteforEngineeringDesign,TechnicalUniversityofDen2mark,1990.[20]BreuneseAPT.AutomatedSupportinMechatronicSystemsModeling[D].UniversityofTwente,Enschede,TheNether2lands,1996.[21]Coelingh,H.J.,T.J.A.deVriesandJ.vanAmerongen,Auto2matedConceptualDesignofControllersforMechatronicSystem[A].LancasterInternationalWorkshoponEngineeringDesignCACD97[C].Lancaster,U.K.,1997.[22]Oelen,W.,ModelingasaToolforDesignofMechatronicSystem[D].UniversityofTwente,Enschede,TheNetherlands,1995.[23]RMwalters,DABradley,APDorey.AConceptualStudyforaComputer-basedTooltosupportElectronicsDesigninaMechatronicEnvironment[J].MicroprocessorsandMicrosys2tems,2000,(24):5161.[24]RobertBStone,KristinLWood.DevelopmentofaFunctionalBasisforDesign[J].JournalofMechanicalDesign,2000,122:359370.[25]JanhJShah,SantoshVKulkarni,NoeVargas-Hermandez.E2valuationofIdeaGenerationMethodsforConceptualDesign:Ef2fectivenessMetricsandDesignofExperiments[J].JournalofMechanicalDesign,2000,122:337384.[26],,,[J].,2000,(4):1517.[27]StephenTHung,MichaelJGabel.AOpenSystemInterconnec2tionModelforMechatronics[A].IEEE/ASMEInternationalConferenceonAdvancedIntelligentMechatronicsProceedings8-12July2001,Como[C].Italy:440445.[28]MZanella,TKoch,FScharfeld.DevelopmentandStructuringofMechatronicSystem,ExemplifiedbytheModularVehicleX-mobile[A].2001IEEE/ASMEIntenationalConferenceonAd2vancedIntelligentMechatronicsProceedings8-12July2001Como[C].Italy,2:10591064.:(1964-),,,,(22),,,,,,,,,,:[1],.[J].,1998,20(1):7680.[2].[J].,1999,21(5):395400.[3],.[J].,2002,13(2):5153.[4]NASATeleroboticsProgramPlan[Z]..http:ranier.hq.nasa.gov/teleroboticspage/FY96Plan/Content.html1996[5]DelmiaEnvision[Z].http:(1978-),,CIMS,313:©1995-2003TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.MAINTOPICS,ABSTRACTS&KEYWORDSISSN1006-2343MachineDesignandResearchVol.19,No.3,Jun.,2003EditedandPublishedby:MachineDesignandResearchJournalOfficeAdd:No.1954HuaShanRoadShanghaiChinaDistributer:ChinaInternationalBookTradingCorporation(P.O.Box339,Beijing)ResearchSituationandDevelopmentProspectofTheoryonConceptualDesignofMechatronicProductsLIRui2qinZOUHui2jun(SchoolofMechanicalEngineering,ShanghaiJiaoTongUniver2sity,Shanghai200030,China)P10Abstract:Thispaperdiscussedtheimportanceabouttheoryonconceptualdesignofmechatronicproducts.Thesituationanddevelopmentofconceptualdesignofmechatronicproductsweredeeplyanalyzed.Takingtheelectronicsandcontroltheoryasthestartingpoint,scholarsfromabroadhavedevelopedsereralplat2formsforconceptualdesign.Researchersathometookthemechanismsasthestartingpointfortheresearchonthetypeofmechatronicproducts,inwhichmovingpartsandmechanismsplayanimportantrole.Domesticresearchworkismorebenefi2cialtocomputeraidedcreativedesignandconceptualdesign.Fi2nally,thispaperpointedoutdevelopmentprospectsabout