机械手类毕业设计外文文献翻译.docx

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1、毕业设计(论文)外文资料翻译系别：专业：班级：姓名：学号：外文出处：附件：L原文；2.译文2013年03月附件一：ARapidlyDeployableManipulatorSystemChristiaanJJ.Paredis,H.BenjaminBrown,PradeepK.KhoslaAbstract:Arapidlydeployablemanipulatorsystemcombinestheflexibilityofreconfigurablemodularhardwarewithmodularprogrammingtools,allowingtheusertorapidlycreatea

2、manipulatorwhichiscustom-tailoredforagiventask.Thisarticledescribestwomainaspectsofsuchasystem,namely,theReconfigurableModularManipulatorSystem(RMMS)hardwareandthecorrespondingcontrolsoftware.1 IntroductionRobotmanipulatorscanbeeasilyreprogrammedtoperformdifferenttasks,yettherangeoftasksthatcanbeper

3、formedbyamanipulatorislimitedbymechanicalstructure.Forexample,amanipulatorwell-suitedforprecisemovementacrossthetopofatablewouldprobablynobecapableofliftingheavyobjectsintheverticaldirection.Therefore,toperformagiventask,oneneedstochooseamanipulatorwithanappropriatemechanicalstructure.Weproposetheco

4、nceptofarapidlydeployablemanipulatorsystemtoaddresstheabovementionedshortcomingsoffixedconfigurationmanipulators.AsisillustratedinFigure1,arapidlydeployablemanipulatorsystemconsistsofsoftwareandhardwarethatallowtheusertorapidlybuildandprogramamanipulatorwhichisCustomtailoredforagiventask.Thecentralb

5、uildingblockofarapidlydeployablesystemisaReconfigurableModularManipulatorSystem(RMMS).TheRMMSutilizesastockofinterchangeablelinkandjointmodulesofvarioussizesandperformancespecifications.OnesuchmoduleisshowninFigure2.Bycombiningthesegeneralpurposemodules,awiderangeofspecialpurposemanipulatorscanbeass

6、embled.Recently,therehasbeenconsiderableinterestintheideaofmodularmanipulators2,4,5,7,9,10,14,forresearchapplicationsaswellasforindustrialapplications.However,mostofthesesystemslackthepropertyofreconfigurability,whichiskeytotheconceptofrapidlydeployablesystems.TheRMMSisparticularlyeasytoreconfiguret

7、hankstoitsintegratedquick-couplingconnectorsdescribedinSection3.EffectiveuseoftheRMMSrequires,TaskBasedDesignsoftware.Thissoftwaretakesasinputdescriptionsofthetaskandoftheavailablemanipulatormodules;itgeneratesasoutputamodularassemblyconfigurationOptimallysuitedtoperformthegiventask.Several(Iifferen

8、tapproacheshavebeenusedsuccessfullytosolvesimpli-fiedinstancesofthiscomplicatedproblem.Athirdimportantbuildingblockofarapidlydeployablemanipulatorsystemisaframeworkforthegenerationofcontrolsoftware.Toreducethecomplexityofsoftwaregenerationforreal-timesensor-basedcontrolsystems,asoftwareparadigmcalle

9、dsoftwareassemblyhasbeenproposedintheAdvancedManipulatorsLaboratoryatCMU.Thisparadigmcombinestheconceptofreusableandreconfigurablesoftwarecomponents,asissupportedbyIheChimerareal-timeoperatingsystem15,withagraphicaluserinterfaceandavisualprogramminglanguage,implementedinOnikaAlthoughthesoftwareassem

10、blyparadigmprovidesthesoftwareinfrastructureforrapidlyprogrammingmanipulatorsystems,itdoesnotsolvetheprogrammingproblemitself.Explicitprogrammingofsensor-basedmanipulatorsystemsiscumbersomeduetotheextensiveamountOfdetailwhichmustbespecifiedfortherobottoperformthetask.Thesoftwaresynthesisproblemforse

11、nsor-basedrobotscanbesimplifieddramatically,byprovidingrobustroboticskills,thatis,encapsulatedstrategiesforaccomplishingcommontasksintherobotstaskdomain1l.SuchroboticskillscanthenbeusedatthetasklevelplanningstagewithouthavingtoconsideranyoftheIow-IeveldetailsAsanexampleoftheuseofarapidlydeployablesy

12、stem,consideramanipulatorinanuclearenvironmentwhereitmustinspectmaterialandspaceforradioactivecontamination,orassembleandrepairequipment.Insuchanenvironment,widelyvariedkinematic(e.g.,workspace)anddynamic(e.g.,speed,payload)performanceisrequired,andtheserequirementsmaynotbeknownapriori.Insteadofprep

13、aringalargesetofdifferentmanipulatorstoaccomplishthesetasks一anexpensivesolution-onecanusearapidlydeployablemanipulatorsystem.Considerthefollowingscenario:assoonasaspecifictaskisidentified,thetaskbaseddesignsoftwaredeterminesthetask.ThisoptimalconfigurationisthenassembledfromtheRMMSmodulesbyahumanor,

14、inthefuture,possiblybyanothermanipulator.TheFesultingmanipulatorisrapidlyprogrammedbyusingthesoftwareassemblyparadigmandourlibraryofroboticskills.Finally,themanipulatorisdeployedtoperformitstask.Althoughsuchascenarioisstillfuturistic,thedevelopmentofthereconfigurablemodularmanipulatorsystem,describe

15、dinthispaper,isamajorstepforwardtowardsourgoalofarapidlydeployablemanipulatorsystem.Ourapproachcouldformthebasisforthenextgenerationofautonomousmanipulators,inwhichthetraditionalnotionofsensor-basedautonomyisextendedtoconfiguration-basedautonomy.Indeed,althoughadeployedsystemcanhaveallthesensoryandp

16、lanninginfbrmationitneeds,itmaystillnotbeabletoaccomplishitstaskbecausethetaskisbeyondthesystem,sphysicalcapabilities.Arapidlydeployablesystem,ontheOtherhand,couldadaptitsphysicalcapabilitiesbasedontaskspecificationsand,withadvancedsensing,control,andplanningstrategies,accomplishthetaskautonomously.

17、2 Designofself-containedhardwaremodulesInmostindustrialmanipulators,thecontrollerisaseparateunithousingthesensorinterfaces,poweramplifiers,andcontrolprocessorsforallthejointsofthemanipulator.Alargenumberofwiresisnecessarytoconnectthiscontrolunitwiththesensors,actuatorsandbrakesIocatedineachofthejoin

18、tsofthemanipulator.Thelargenumberofelectricalconnectionsandthenon-extensiblenatureofsuchasystemlayoutmakeitinfeasibleformodularmanipulators.ThesolutionweproposeistodistributeIhecontrolhardwaretoeachindividualmoduleofthemanipulator.Thesemodulesthenbecomeself-containedunitswhichincludesensors,anactuat

19、or,abrake,atransmissionsensorinterface,amotoramplifier,andacommunicationinterface,asisillustratedinFigure3.Asaresult,onlysixwiresarerequiredforpowerdistributionanddatacommunication.2.1 MechanicaldesignThegoaloftheRMMSprojectistohaveawidevarietyofhardwaremodulesavailable.Sofar,wehavebuiltfburkindsofm

20、odules:themanipulatorbase,alinkmodule,threepivotjointmodules(oneofwhichisshowninFigure2),andonerotatejointmodule.Thebasemoduleandthelinkmodulehavenodegrees-of-freedom;thejointmoduleshaveonedegree-of-freedomeach.ThemechanicaldesignofthejointmodulescompactlyfitsaDC-motor,afail-safebrake,atachometer,ah

21、armonicdriveandaresolver.Thepivotandrotatejointmodulesusedifferentoutsidehousingstoprovidetheright-angleorin-lineConfigurationrespectively,butareidenticalinternally.Figure4showsincross-sectiontheinternalstructureofapivotjoint.EachjointmoduleincludesaDCtorquemotorand100:1harmonic-drivespeedreducer,an

22、disratedatamaximumspeedof1.5radsandmaximumtorqueof270Nm.Eachmodulehasamassofapproximately10.7kg.Asingle,compact,X-typebearingconnectsthetwojointhalvesandprovidestheneededoverturningrigidity.Ahollowmotorshaftpassesthroughalltherotarycomponents,andprovidesachannelforpassageofCablingwithminimalflexing.

23、2.2 ElectronicdesignThecustom-designedon-boardelectronicsarealsodesignedaccordingtotheprincipleofmodularity.EachRMMSmodulecontainsamotherboardwhichprovidesthebasicfunctionalityandontowhichdaughtercardscanbestackedtoaddmodulespecificfunctionality.ThemotherboardconsistsofaSiemens80C166microcontroller,

24、64KofROM,64KofRAM,anSMCCOM20020universallocalareanetworkcontrollerwithanRS-485driver,andanRS-232driver.ThefunctionofthemotherboardistoestablishcommunicationwiththehostinterfaceviaanRS-485busandtoperformtheIowlevelcontrolofthemodule,asisexplainedinmoredetailinSection4.TheRS-232serialbusdriverallowsfo

25、rsimplediagnosticsandsoftwareprototyping.Astackingconnectorpermitstheadditionofanindefinitenumberofdaughtercardswithvariousfunctions,suchassensorinterfaces,motorcontrollers,RAMexpansionetc.Inourcurrentimplementation,onlymoduleswithactuatorsincludeadaughtercard.Thiscardcontainsa16bitresolvertodigital

26、converter,a12bitA/DConvertertointerfacewiththetachometer,anda12bitD/AConvertertocontrolthemotoramplifier;wehaveusedanofthe-shelfmotoramplifier(GalilMotionControlmodelSSA-8/80)todrivetheDC-motor.Formoduleswithmorethanonedegree-of-freedom,forinstanceawristmodule,morethanonesuchdaughtercardcanbeStacked

27、ontothesamemotherboard.3 Integratedquick-couplingconnectorsTomakeamodularmanipulatorbereconfigurable,itisnecessarythatthemodulescanbeeasilyconnectedwitheachother.Wehavedevelopedaquick-couplingmechanismwithwhichasecuremechanicalconnectionbetweenmodulescanbeachievedbysimplyturningaringhandtighl;notool

28、sarerequired.AsshowninFigure5,keyedflangesprovidepreciseregistrationofthetwomodules.Turningofthelockingcollaronthemaleendproducestwodistinctmotions:firstthefingersofthelockingringrotate(withthecollar)about22.5degreesandcapturethefingersontheflanges;second,thecollarrotatesrelativetothelockingring,whi

29、leacammechanismforcesthefingersinwardtosecurelygripthematingflanges.Aball-transfermechanismbetweenthecollarandlockingringautomaticallyproducesthissequenceofmotions.Atthesametimethemechanicalconnectionismade,pneumaticandelectronicconnectionsarealsoestablished.Insidethelockingringisamodularconnectorth

30、athas30maleelectricalpinsplusapneumaticcouplerinthemiddle.Thesecorrespondtomatchingfemalecomponentsonthematingconnector.Setsofpinsarewiredinparalleltocarrythe72V-25Apowerformotorsandbrakes,and48V-6Apowerfortheelectronics.AdditionalpinscarrysignalsfortwoRS-485serialcommunicationbussesandfourvideobuss

31、es.Aplasticguidecollarplussixalignmentpinspreventdamagetotheconnectorpinsandassureproperalignment.TheplasticblockholdingIhefemalepinscanrotateinthehousingtoaccommodatetheeightdifferentpossibleconnectionorientations(845degrees).TherelativeorientationisautomaticallyregiSteredbymeansofaninfraredLEDinth

32、efemaleconnectorandeightphotodetectorsinthemaleconnector.4 ARMbuscommunicationsystemEachofthemodulesoftheRMMScommunicateswithaVME-basedhostinterfaceoveralocalareanetworkcalledtheARMbus;eachmoduleisanodeofthenetwork.ThecommunicationisdoneinaserialfashionoveranRS-485buswhichrunsthroughthelengthofthema

33、nipulator.WeusetheARCNETprotocol1implementedonadedicatedIC(SMCCOM20020).ARCNETisadeterministictoken-passingnetworkschemewhichHvoidsnetworkcollisionsandguaranteeseachnodeitstimetoaccessthenetwork.Blocksofinformationcalledpacketsmaybesentfromanynodeonthenetworktoanyoneoftheothernodes,ortoallnodessimul

34、taneously(broadcast).Eachnodemaysendonepacketeachtimeitgetsthetoken.Themaximumnetworkthroughputis5Mbs.Thefirstnodeofthenetworkresidesonthehostinterfacecard,asisdepictedinFigure6.InadditiontoaVMEaddressdecoder,thiscardcontainsessentiallythesamehardwareonecanfindonamodulemotherboard.Thecommunicationbe

35、tweentheVMEsideofthecardandtheARCNETsideoccursthroughdual-portRAM.Therearetwokindsofdatapassedoverthelocalareanetwork.Duringthemanipulatorinitializationphase,themodulesconnecttothenetworkonebyone,startingatthebaseandendingattheend-effector.Onjoiningthenetwork,eachmodulesendsadata-packettothehostinte

36、rfacecontainingitsserialnumberanditsrelativeorientationwithrespecttothepreviousmodule.Thisinfrmationallowsustoautomaticallydeterminethecurrentmanipulatorconfiguration.Duringtheoperationphase,thehostinterfaceCommunicateswitheachofthenodesat400Hz.Thedatathatisexchangeddependsonthecontrolmode-centraliz

37、edOrdistributed.Incentralizedcontrolmode,thetorquesfbrallthejointsarecomputedontheVME-basedreal-timeprocessingunit(RTPU),assembledintoadata-packetbythemicrocontrolleronthehostinterfacecardandbroadcastovertheARMbustoallthenodesofthenetwork.Eachnodeextractsitstorquevaluefromthepacketandrepliesbysendin

38、gadata-packetcontainingtheresolverandtachometerreadings.Indistributedcontrolmode,ontheotherhand,thehostcomputerbroadcaststhedesiredjointvaluesandfeed-forwardtorques.Locally,ineachmodule,thecontrolloopcanthenbeclosedataFrequencymuchhigherthan400Hz.Themodulesstillsendsensorreadingsbacktothehostinterfa

39、cetobeusedintheComputationofthesubsequentfeed-forwardtorque.5 ModularandreconfigurablecontrolsoftwareThecontrolsoftwarefortheRMMShasbeendevelopedusingtheChimerareal-timeoperatingsystem,Whichsupportsreconfigurableandreusablesoftwarecomponents15.ThesoftwarecomponentsusedtocontroltheRMMSarelistedinTabl

40、e1.Thetrjjline,dis,andgrav_compcomponentsrequiretheknowledgeofcertainconfigurationdependentparametersoftheRMMS,suchasthenumberofdegrees-of-freedom,theDenavit-Hartenbergparametersetc.Duringtheinitializationphase,theRMMSinterfaceestablishescontactwitheachofthehardwaremodulestodetermineautomaticallywhi

41、chmodulesarebeingusedandinwhichorderandOrientationtheyhavebeenassembled.Foreachmodule,adatafilewithaparametricmodelisread.Bycombiningthisinformationfbrallthemodules,kinematicanddynamicmodelsoftheentiremanipulatorarebuilt.Aftertheinitialization,thermmssoftwareComponentoperatesinadistributedcontrolmod

42、einwhichthemicrocontrollersofeachoftheRMMSmodulesperformPlDcontrollocallyat1900Hz.Thecommunicationbetweenthemodulesandthehostinterfaceisat400Hz,whichcandifferfromthecyclefrequencyofthermmssoftwarecomponent.Sinceweuseatriplebuffermechanism16forthecommunicationthroughthedual-portRAMontheARMbushostinte

43、rface,nosynchronizationorhandshakingisnecessary.BecauseclosedforminversekinematicsdonotexistforallpossibleRMMSconfigurations,weuseadampedleast-squareskinematiccontrollertodotheinversekinematicscomputationnumerically.6 SeamlessintegrationofsimulationToassisttheuserinevaluatingwhetheranRMMScon-figurat

44、ioncansuccessfullycompleteagiventask,wehavebuiltasimulator.ThesimulatorisbasedontheTeleGriprobotsimulationsoftwarefromDenebInc.,andrunsonanSGICrimsonwhichisconnectedwiththereal-timeprocessingunitthroughaBit3VME-to-VMEadaptor,asisshowninFigure6.AgraphicaluserinterfaceallowstheusertoassemblesimulatedR

45、MMSConfigurationsverymuchlikeassemblingtherealhardware.CompletedconfigurationscanbetestedandprogrammedusingtheTeleGripfunctionsforrobotdevices.TheconfigurationscanalsobeinterfacedwiththeChimerareal-timesoftwarerunningonthesameRTPUsusedtocontroltheactualhardware.Asaresult,itispossibletoevaluatenotonl

46、ythemovementsofthemanipulatorbutalsotherealtimeCPUusageandloadbalancing.Figure7showsanRMMSsimulationcomparedwiththeactualtaskexecution.7 SummaryWehavedevelopedaReconfigurableModularManipulatorSystemwhichcurrentlyconsistsofsixhardwaremodules,withatotaloffourdegrees-of-freedom.Thesemodulescanbeassembl

47、edinalargenumberofClifferentconfigurationstotailorthekinematicanddynamicpropertiesofthemanipulatortothetaskathand.ThecontrolsoftwarefortheRMMSautomaticallyadaptstotheassemblyconfigurationbybuildingkinematicanddynamicmodelsofthemanipulator;thisistotallytransparenttotheuser.Toassisttheuserinevaluating

48、whetheramanipulatorconfigurationiswellsuitedforagiventask,wehavealsobuiltasimulator.AcknowledgmentThisresearchwasfundedinpartbyDOEundergrantDE-F902-89ER14042,bySandiaNationalLaboratoriesundercontractAL-3020,bytheDepartmentofElectricalandComputerEngineering,andbyTheRoboticsInstitute,CarnegieMellonUni

49、versity.TheauthorswouldalsoliketothankRandyCasciola,MarkDeLouis,EricHoffman,andJimMoodyforIheirvaluablecontributionstothedesignoftheRMMSsystem.附件二：可迅速布置的机械手系统ChristiaanJ.J.Paredis,H.BenjaminBrown,PradeepK.Khosla摘要:一个迅速可部署的机械手系统，可以使再组合的标准化的硬件的灵活性用标准化的编程工具结合，允许用户迅速建立为一项规定的任务来通常地控制机械手。这篇文章描述这样的一个系统的两个主要方面，即，再组合的标准化的机械手系统(RMMS)硬件和相应控制软件。1介绍机器人操纵装置可能容易被程序重调执行不同的任务，然而一个机械手可以执行的任务的范围已经被它的机械结构限制。例如，一个很适合准确的运动的机械手在一张桌子上部或许将不能朝着垂直的方向举起重物。因此，执行规定的任务，需要有一个适宜的机械结构来选择机械手。