翻译人：王墨墨山东科技大学
文献题目：Automated Calibration of Robot Coordinates
for Reconfigurable Assembly Systems
翻译正文如下：
针对可重构装配系统的机器人协调性的自动校准
T.艾利，Y.米达，H.菊地，M.雪松
日本东京大学，机械研究院，精密工程部
摘要
为了实现流水工作线更高的可重构性，以必要设备如机器人的快速插入插出为研究目的。当一种新的设备被装配到流水工作线时，应使其具备校准系统。该研究使用两台电荷耦合摄像机，基于直接线性变换法，致力于研究一种相对位置/相对方位的自动化校准系统。摄像机被随机放置，然后对每一个机械手执行一组动作。通过摄像机检测机械手动作，就能捕捉到两台机器人的相对位置。最佳的结果精度为均方根值0.16毫米。
关键词：
装配，校准，机器人
1 介绍
21世纪新的制造系统需要具备新的生产能力，如可重用性，可拓展性，敏捷性以及可重构性[1]。系统配置的低成本转变，能够使系统应对可预见的以及不可预见的市场波动。关于组装系统，许多研究者提出了分散的方法来实现可重构性[2][3]。他们中的大多数都是基于主体的系统，主体逐一协同以建立一种新的配置。然而，协同只是目的的一部分。在现实生产系统中，例如工作空间这类物理问题应当被有效解决。
为了实现更高的可重构性，一些研究人员不顾昂贵的造价，开发出了特殊的均匀单元[4][5][6]。作者为装配单元提出了一种自律分散型机器人系统，包含多样化的传统设备[7][8]。该系统可以从一个系统添加/删除装配设备，亦或是添加/删除装配设备到另一个系统；它通过协同作用，合理地解决了工作空间的冲突问题。我们可以把该功能称为“插入与生产”。
机械手臂应用领域的外文文献以及翻译
1. Introduction
机械手臂是一种用于执行各种任务的自动化设备，其应用领域广泛。本文档提供了一些关于机械手臂应用领域的外文文献，并附有简要的翻译。
2. 文献1: "Advancements in Robotic Arm Control Systems"
- Author: John Smith
- Published: 2020
这篇文献详细介绍了机械手臂控制系统的最新进展。作者讨论了各种控制算法、传感器和执行器的应用，以提高机械手臂的性能和精确度。
3. 文献2: "Applications of Robotic Arms in Manufacturing Industry"
- Author: Emily Chen
- Published: 2018
作者在这篇文献中研究了机械手臂在制造业中的应用。她列举了多个实例，包括机械手臂在装配、焊接和搬运等任务中的应用，以及通过使用机械手臂能够提高生产效率和质量的案例。
4. 文献3: "Robot-Assisted Surgery: The Future of Medical Industry"
- Author: David Johnson
- Published: 2019
这篇文献探讨了机械手臂在医疗行业中的应用，特别是机器人辅助外科手术。作者解释了机械手臂在手术过程中的优势，包括更小的切口、更高的精确度和减少术后恢复时间等方面。
5. 文献4: "Exploring the Potential of Robotic Arms in Agriculture"
第一章概述
1. 1机械手的发展历史
人类在改造自然的历史进程中，随着对材料、能源和信息这三者的认识和用，不断创造各种工具（机器），满足并推动生产力的发展。
工业社会向信息社会发展，生产的自动化，应变性要求越来越高，原有机器系统就显得庞杂而不灵活，这时人们就仿造自身的集体和功能，把控制机、动力机、传动机、工作机综合集中成一体，创造了“集成化”的机器系统——机器人。从而引起了生产系统的巨大变革，成为“人——机器人——劳动对象”，或者“人——机器人——动力机——工作机——劳动对象”。
机器人技术从诞生到现在，虽然只有短短三十几年的历史，但是它却显示了旺盛的生命力。近年来，世界上对于发展机器人的呼声更是有增无减，发达国家竞相争先，发展中国家急起直追。许多先进技术国家已先后把发展机器人技术列入国家计划，进行大力研究。我国的机器人学的研究也已经起步，并把“机器人开发研究”和柔性制造技术系统和设备开发研究等与机器人技术有关的研究课题列入国家“七五”、“八五”科技发展计划以及“八六三”高科技发展计划。
工业机械手是近代自动控制领域中出现的一项新技术，并已经成为现代机械制造生产系统中的一个重要组成部分。这种新技术发展很快，逐渐形成一门新兴的学科——机械手工程。
1. 2机械手的发展意义
机械手的迅速发展是由于它的积极作用正日益为人们所认识：其一、它能部分地代替人工操作；其二、它能按照生产工艺的要求，遵循一定的程序、时间和位置来完成工件的传送和装卸；其三、它能操作必要的机具进行焊接和装配。从而大大地改善工人的劳动条件，显著地提高劳动生产率，加快实现工业生产机械化和自动化的步伐。因而，受到各先进工业国家的重视，投入大量的人力物力加以研究和应用。
The Sunflower Seed Huller and Oil Press
By Jeff Cox
-— from Organic Gardening，April 1979, Rodale Press
IN 2,500 SQUARE FEET, a family of four can grow each year enough sunflower seed to produce three gallons of homemade vegetable oil suitable for salads or cooking and 20 pounds of nutritious, dehulled seed —- with enough broken seeds left over to f eed a winter’s worth of birds。The
problem，heretofore，with sunflower seeds was the difficulty of dehulling
them at home，and the lack of a device for expressing oil from the seeds。About six months ago, we decided to change all that. The job was to find out who makes a sunflower seed dehuller or to devise one if none were manufactured. And to either locate a home—scale oilseed press or devise
机械手中英文对照外文翻译文献机械手
机械手是近几十年发展起来的一种高科技自动化生产设备。作为工业机器人的一个重要分支，机械手可通过编程来完成各种预期的作业任务，并兼有人和机器各自的优点，尤其体现了人的智能和适应性。机械手作业的准确性和各种环境中完成作业的能力，在国民经济各领域有着广阔的发展前景。随着工业自动化的发展，数控加工中心在减轻工人劳动强度的同时，提高了劳动生产率。然而，数控加工中常见的上下料工序，通常仍采用人工操作或传统继电器控制的半自动化装置。前者费时费工、效率低，后者则存在可靠性差、故障多、维修困难等问题。因此，可编程序控制器PLC控制的上下料机械手控制系
统成为了一种更为优越的选择，它具有动作简便、线路设计合理、抗干扰能力强和可靠性高等优点，可以保证系统运行的稳定性，降低维修率，提高工作效率。机械手技术涉及到力学、机械学、电气液压技术、自动控制技术、传感器技术和计算机技术等科学领域，是一门跨学科综合技术。
一、工业机械手的概述
机械手是一种能自动化定位控制并可重新编程序以变动的多功能机器，它有多个自由度，可用来搬运物体以完成在各个不同环境中工作。在中国，尽管塑料制品行业仍属于劳动力密集型，但机械手的使用已经越来越普及。那些设在中国的欧美跨国公司很早就在工厂中引进了自动化生产。但现在的变化是分布在工业密集的华南、华东沿海地区的中国本土塑料加工厂也开始对机械手表现出越来越浓厚的兴趣，因为他们要面对工人流失率高，以及为工人交工伤费带来的挑战。
随着我国工业生产的飞跃发展，特别是改革开发以后，自动化程度的迅速提高，实现工件的装卸、转向、输送或操作钎焊、喷枪、扳手等工具进行加工、装配等作业自化，已愈来愈引起我们重视。机械手是模仿着人手的部分动作，按给定的程序、轨迹和要求实现自动抓取、搬运或操作的自动机械装置。
附件一：
A Rapidly Deployable Manipulator System
Author:Christiaan J.J.Paredis,H.Benjamin Brown,Pradeep K.Khosla Abstract:
A rapidly deployable manipulator system combines the flexibility of reconfigurable modular hardware with modular programming tools,allowing the user to rapidly create a manipulator which is custom-tailored for a given task.This article describes two main aspects of such a system,namely,the Reconfigurable Modular Manipulator System(RMMS)hardware and the corresponding control software.
1 Introduction
Robot manipulators can be easily reprogrammed to perform different tasks,yet the range of tasks that can be performed by a manipulator is limited by mechanicalstructure.Forexample,a manipulator well-suited for precise movement across the top of a table would probably no be capable of lifting heavy objects in the vertical direction.Therefore,to perform a given task,one needs to choose a manipulator with an appropriate mechanical structure.
机械手外文翻译
外文文献原文:
Along with the social production progress and people life rhythm is accelerating, people on production efficiency also continuously put forward new requirements. Because of microelectronics technology and calculation software and hardware technology rapid development and modern control theory, the
perfection of the fast development, the robot technology pneumatic manipulator system because its media sources do not pollute the environment, simple and cheap components, convenient maintenance and system safety and reliability
characteristic, has penetrated into every sector of the industrial field, in the industrial development plays an important role. This article tells of the pneumatic control robots, furious manipulator XY axis screw group, the turntable institutions,
A Nonlinear Disturbance Observer for
Robotic Manipulators
Wen-Hua Chen,Member,IEEE,Donald J.Ballance,Member,IEEE,Peter J.Gawthrop,Senior Member,IEEE,
and John O’Reilly,Senior Member,IEEE
Abstract—A new nonlinear disturbance observer(NDO) for robotic manipulators is derived in this paper.The global exponential stability of the proposed disturbance observer(DO) is guaranteed by selecting design parameters,which depend on the maximum velocity and physical parameters of robotic manipulators.This new observer overcomes the disadvantages of existing DO’s,which are designed or analyzed by linear system techniques.It can be applied in robotic manipulators for various purposes such as friction compensation,independent joint control, sensorless torque control,and fault diagnosis.The performance of the proposed observer is demonstrated by the friction estimation and compensation for a two-link robotic manipulator.Both simulation and experimental results show the NDO works well. Index Terms—Friction,nonlinear estimation,observers,robots.
Machine design theory
The machine design is through designs the new product or improves the old product to meet the human need the application technical science. It involves the project technology each domain, mainly studies the product the size, the shape and the detailed structure basic idea, but also must study the product the personnel which in aspect the and so on manufacture, sale and use question.
Carries on each kind of machine design work to be usually called designs the personnel or machine design engineer. The machine design is a creative work. Project engineer not only must have the creativity in the work, but also must in aspect and so on mechanical drawing, kinematics, engineerig material, materials mechanics and machine manufacture technology has the deep elementary knowledge.
机械手外文翻译
LG GROUP system office room 【LGA16H-LGYY-LGUA8Q8-LGA162】
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
Proceedings of the 33rd Chinese Control Conference
July 28-30, 2014, Nanjing, China
The Remote Control System of the Manipulator
SUN Hua, ZHANG Yan, XUE Jingjing , WU Zongkai College of Automation, Harbin Engineering University, Harbin 15000
E-mail:
Abstract: A remote control system of the 5 degree of freedom manipulator was designed. This manipulator was installed into our
mobile robot to constitute a remote rescue robot. The Denavit-Hartenberg method was used to establish the kinematic models and the path planning of the manipulator was researched. The operator could remote control the manipulator by the interactive interface of PC
毕业设计外文资料翻译题目立柱式助力机械手设计
学院机械工程学院
专业机械工程及自动化
班级机自0902
学生
学号
指导教师
二〇一三年三月十五日
Manufacturing Engineering and Technology——Machining, 2004
The Design of Hand Column Type Power Machine
Serope kalpak jian,Steven R.Schmid
Shanghai Metallurgical Research Institute of Chinese Academy of Sciences Abstract
Machine hand developed in recent decades as high-tech automated production equipment. Industrial machine hand is an important branch of industrial machine hands. It features can be programmed tasks in a variety of expectations, in both structure and performance advantages of their own people and machines, in particular, reflects the peo ple’s intelligence and adaptability. The accuracy of machine hand operations and a variety of environments the ability to complete the work in the field of national economy and there are broad prospects for development. With the development of industrial automation, there has been CNC marching center, it is in reducing labor intensity, while greatly improves labor productivity. However, the upper and lower common in CNC marching processes material, usually still use manual or traditional relay-controlled semi-automatic device. The former time-consuming and labor intensive, inefficient; the latter due to design complexity, require more relays, writing complexity, vulnerability to body vibration interference, while the existence of poor reliability, fault more maintenance problems and other issues. Programmable Logic Controller PLC-controlled machine hand control system for material up and down movement is simple, circuit design is reasonable, while a strong anti-jamming capability, ensuring the system’s reliability, reduced maintenance rate, and improve work efficiency. Machine hand technology related to mechanics, mechanics, electrical hydraulic technology, automatic control technology, sensor technology and computer technology and other fields of science, is a cross-disciplinary technology.
This is a application of Application Ser. No. 10/799，595，filed on Mar. 15, 2004 now U。
optical mouse system or the like to form an irradiation pattern constituted by a high—luminance region and a relatively low—luminance region corresponding to the minute shape of the spherical surface. Movement information is then obtained by using the movement of the irradiation pattern based on the relative movement between the spherical surface and the sensor。
FIG. 1 is a view which is most indicative of the main part of this embodiment。Reference numerals 20—1，20-2，and 20-3 denote the first, second，and third elastic member vibration elements of a multiple degree—of-freedom vibration actuator，respectively；and 1—1 and 1—2，piezoelectric ceramics which generate bending vibrations and longitudinal vibrations，respectively。Each vibration element 20 is fixed/supported on a frame （not shown）with an arm portion （see 1#x2013；2＃x2032; in FIG。6) extending from an electrode plate portion for a piezoelectric ceramic in the radial direction. The driving principle and arrangement of the multiple degree-of—freedom vibration actuator will be described in detail later.
译文
原文题目：State of the art in robotic assembly 译文题目：用机械手装配的发展水平
学院：机电工程学院
专业班级： 09级机械工程及自动化01班
学生姓名：
学号：
From: of the art in robotic assembly
Robotic assembly systems offer good perspectives for the rationalization of assembly activities. Various bottlenecks are still encountered, however, in the widespread application of robotic assembly systems. This article focuses on the external developments, bottlenecks and development tendencies in robotic assembly.
External developments
The current market trends are:
Increasing international competition, shorter product life cycle, increasing product diversity, decreasing product quantity, shorter delivery times, higher delivery reliability, higher quality requirements and increasing labour costs. Next to these market developments, technological developments also play a role, offering new opportunities to optimize price, quality and delivery time in their mutual relationships. The technological developments are among other things: information technology, new design strategies, new processing techniques, and the availability of flexible production systems, such as industrial robots. Companies will have to adjust their policy to these market and technology developments (market pull and technology push, respectively). This policy is determined by the company objectives and the company strategy which lie at its basis. Under the influence of the external developments mentioned, the company objectives can, in general, be divided into: high flexibility, high productivity, constant and high product quality, short throughput times, and low production costs. Optimizing these competition factors normally results in the generation of more money, and thus (greater) profits. To realize this objective, most companies choose the following strategies: reduction of complexity, application of advanced production technologies, integral approach, quality control, and improvement of the working conditions. Figure 1 shows the company policy in relation to the external developments to which the company policy should be adjusted.
body dynamic and yields the input current vector of the servovalve, the dynamic gravity term including the gravity of platform, load and hydraulic cylinders is used to compensate the influence of gravity of parallel manipulator platform. 入电流矢量的伺服阀，动态重力项包括重力平台，负载和液压缸，用于补偿重力的影响，对并联机器人平台。
In analytical, the steady state errors converge asymptotically to zero, independent of load variation. 在分析，稳态误差渐近收敛于零，独立的负载变化。
The model-based controller, PD control with gravity compensation, is developed to reduce the effect of load variety of platform and eliminate steady state error of hydraulic driven parallel manipulator. 基于模型的控制器，控制重力补偿，以减少开发影响负载多种平台和消除稳态误差的液压驱动并联机器人。
机械设计创造及其自动化毕业论文外文文献翻译
INTEGRATION OF MACHINERY
译文题目
专业机械设计创造及其自动化
外文资料翻译
INTEGRATION OF MACHINERY
（From ELECTRICAL AND MACHINERY INDUSTRY）
ABSTRACT
Machinery was the modern science and technology development inevitable result, this article has summarized the integration of machinery technology basic outline and the development background .Summarized the domestic and foreign integration of machinery technology present situation, has analyzed the integration of machinery technology trend of development.
Key word： integration of machinery ，technology， present situation ，product t，echnique of manufacture ，trend of development
0. Introduction modern science and technology unceasing development, impelled different discipline intersecting enormously with the seepage, has caused the project domain technological revolution and the transformation .In mechanical engineering domain, because the microelectronic technology and the computer technology rapid development and forms to the mechanical industry seepage the integration of machinery, caused the mechanical industry the technical structure, the product organization, the function and the constitution, the production method and the management system
English
Robot developed in recent decades as high-tech automated production equipment ・ Indus trial robot is an important branch of industrial robots ・ It features can be programmed to perform tasks in a variety of expectations, in both structure and performance advantages of their own people and machines, in particular, reflects the people's intelligence and adaptability・ The accuracy of robot operations and a variety of environments the ability to complete the work in the field of national economy and there are broad prospects for development・ With the development of industrial automation, there has been CNC machining center, it is in reducing labor intensity, while greatly improved labor productivity・ However, the upper and lower common in CNC machining processes material, usually still use manual or traditional relay-controlled semi-automatic device・ The former time-consuming and labor intensive, inefficient; the latter due to design complexity, require more relays, wiring complexity, vulnerability to body vibration interference, while the existence of poor reliability, fault more maintenance problems and other issues・ Programmable Logic Controller PLC-controlled robot control system for materials up and down movement is simple, circuit design is reasonable, with a strong anti-jamming capability, ensuring the system's reliability, reduced maintenance rate, and improve work efficiency ・
