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1、(完好版)机械手类_毕业设计外文文献翻译_当前位置：文档视界(完好版)机械手类_毕业设计外文文献翻译_(完好版)机械手类_毕业设计外文文献翻译_附件一：ARapidlyDeployableManipulatorSystemChristiaanJ.J.Paredis,H.BenjaminBrown,PradeepK.KhoslaAbstract:Arapidlydeployablemanipulatorsystemcombinestheflexibilityofreconfigurablemodulartask.Thisarticledescribestwomainaspectsofsuchas
2、ystem,namely,theReconfigurableModularManipulatorSystem(RMMS)Robotmanipulatorscanbeeasilyreprogrammedtoperformdifferenttasks,yettherangeoftasksthatcanbeperformedbyamanipulatorislimitedbymechanicalstructure.Forexample,amanipulatorwell-suitedforprecisemovementacrossthetopofatablewouldprobablynobecapabl
3、eofliftingtheverticaldirection.Therefore,toperformagiventask,oneneedstochooseamanipulatorwithanappropriatemechanicalstructure.Weproposetheconceptofarapidlydeployablemanipulatorsystemtoaddresstheabovementionedshortcomingsoffixedconfigurationmanipulators.AsisillustratedinFigure1,arapidlydeployablemani
4、pulatorsystemconsistsofsoftwareandtask.ThecentralbuildingblockofarapidlydeployablesystemisaReconfigurableModularManipulatorSystem(RMMS).TheRMMSutilizesastockofinterchangeablelinkandjointmodulesofvarioussizesandperformancespecifications.OnesuchmoduleisshowninFigure2.Bycombiningthesegeneralpurposemodu
5、les,awiderangeofspecialpurposemanipulatorscanbeassembled.Recently,thereconsiderableinterestintheideaofmodularmanipulators2,4,5,7,9,10,14,forresearchapplicationsaswellasforindustrialapplications.However,mostofthesesystemslackthepropertyofreconfigurability,whichiskeytotheconceptofrapidlydeployablesyst
6、ems.TheRMMSisparticularlyeasytoreconfigurethankstoitsintegratedquick-couplingconnectorsdescribedinSection3.EffectiveuseoftheRMMSrequires,TaskBasedDesignsoftware.Thissoftwaretakesasinputdescriptionsofthetaskandoftheavailablemanipulatormodules;itgeneratesasoutputamodularassemblyconfigurationoptimallys
7、uitedtoperformthegiventask.Severaldifferentapproachesusedsuccessfullytosolvesimpli-fiedinstancesofthiscomplicatedproblem.Athirdimportantbuildingblockofarapidlydeployablemanipulatorsystemisaframeworkforthegenerationofcontrolsoftware.Toreducethecomplexityofsoftwaregenerationforreal-timesensor-basedcon
8、trolsystems,asoftwareparadigmcalledsoftwareassemblyproposedintheAdvancedManipulatorsLaboratoryatCMU.Thisparadigmcombinestheconceptofreusableandreconfigurablesoftwarecomponents,asissupportedbytheChimerareal-timeoperatingsystem15,withagraphicaluserinterfaceandavisualprogramminglanguage,implementedinOn
9、ikaAlthoughthesoftwareassemblyparadigmprovidesthesoftwareinfrastructureforrapidlyprogrammingmanipulatorsystems,itdoesnotsolvetheprogrammingproblemitself.Explicitprogrammingofsensor-basedmanipulatorsystemsiscumbersomeduetotheextensiveamountofdetailwhichmustbespecifiedfortherobottoperformthetask.Theso
10、ftwaresynthesisproblemforsensor-basedrobotscanbesimplifieddramatically,byprovidingrobustroboticskills,thatis,encapsulatedstrategiesforaccomplishingcommontasksintherobotstaskdomain11.Suchroboticskillscanthenbeusedatthetasklevelplanningstagewithoutexampleoftheuseofarapidlydeployablesystem,consideraman
11、ipulatorinanuclearenvironmentwhereitmustinspectmaterialandspaceforradioactivecontamination,orassembleandrepairequipment.Insuchanenvironment,widelyvariedkinematic(e.g.,workspace)anddynamic(e.g.,speed,payload)performanceisrequired,andtheserequirementsmaynotbeknownapriori.Insteadofpreparingalargesetofd
12、ifferentmanipulatorstoaccomplishthesetasksanexpensivesolutiononecanusearapidlydeployablemanipulatorsystem.Considerthefollowingscenario:assoonasaspecifictaskisidentified,thetaskbaseddesignsoftwaredeterminesthetask.ThisoptimalconfigurationisthenassembledfromtheRMMSmodulesbyaor,inthefuture,possiblybyan
13、othermanipulator.Theresultingmanipulatorisrapidlyprogrammedbyusingthesoftwareassemblyparadigmandourlibraryofroboticskills.Finally,themanipulatorisdeployedtoperformitstask.Althoughsuchascenarioisstillfuturistic,thedevelopmentofthereconfigurablemodularmanipulatorsystem,describedinthispaper,isamajorste
14、pforwardtowardsourgoalofarapidlydeployablemanipulatorsystem.Ourapproachcouldformthebasisforthenextgenerationofautonomousmanipulators,inwhichthetraditionalnotionofsensor-basedautonomyisextendedtoconfiguration-basedautonomy.Indeed,althoughadeployedsystemcanitneeds,itmaystillnotbeabletoaccomplishitstas
15、kbecausethetaskisbeyondthesystemsphysicalcapabilities.Arapidlydeployablesystem,ontheothertaskspecificationsand,withadvancedsensing,control,andplanningstrategies,accomplishthetaskautonomously.2Designofself-containedmostindustrialmanipulators,thecontrollerisaseparateuniteachofthejointsofthemanipulator
16、.Thelargenumberofelectricalconnectionsandthenon-extensiblenatureofsuchasystemlayoutmakeitinfeasibleformodularmanipulators.Thesolutionweproposeistodistributethecontrolbecomeself-containedunitswhichincludesensors,anactuator,abrake,atransmission,asensorinterface,amotoramplifier,andacommunicationinterfa
17、ce,asisillustratedinFigure3.Asaresult,onlysixwiresarerequiredforpowerdistributionanddatacommunication.2.1MechanicaldesignThegoaloftheRMMSprojectistoinFigure2),andonerotatejointmodule.ThebasemoduleandthelinkmoduleofthejointmodulescompactlyfitsaDC-motor,afail-safebrake,atachometer,a-lineconfigurationr
18、espectively,butareidenticalinternally.Figure4showsincross-sectiontheinternalstructureofapivotjoint.EachjointmoduleincludesaDCtorquemotorand100:1Thecustom-designedon-boardelectronicsarealsodesignedaccordingtotheprincipleofmodularity.EachRMMSmodulecontainsamotherboardwhichprovidesthebasicfunctionality
19、andontowhichdaughtercardscanbestackedtoaddmodulespecificfunctionality.ThemotherboardconsistsofaSiemens80C166microcontroller,64KofROM,64KofRAM,anSMCCOM20020universallocalareanetworkcontrollerwithanRS-485driver,andanRS-232driver.ThefunctionofthemotherboardistoestablishcommunicationwiththeRS-485busandt
20、operformthelowlevelcontrolofthemodule,asisexplainedinmoredetailinSection4.TheRS-232serialbusdriverallowsforsimplediagnosticsandsoftwareprototyping.Astackingconnectorpermitstheadditionofanindefinitenumberofdaughtercardswithvariousfunctions,suchassensorinterfaces,motorcontrollers,RAMexpansionetc.Inour
21、currentimplementation,onlymoduleswithactuatorsincludeadaughtercard.Thiscardcontainsa16bitresolvertodigitalconverter,a12bitADconvertertointerfacewiththetachometer,anda12bitDAconvertertocontrolthemotoramplifier;weofthe-shelfmotoramplifier(GalilMotionControlmodelSSA-880)todrivetheDC-motor.Formoduleswit
22、hmorethanonedegree-of-freedom,forinstanceawristmodule,morethanonesuchdaughtercardcanbestackedontothesamemotherboard.3Integratedquick-couplingconnectorsTomakeamodularmanipulatorbereconfigurable,itisnecessarythatthemodulescanbeeasilyconnectedwitheachother.WebetweenmodulescanbeachievedbysimplyturningaringinFigure5,keyed此页面能否是列表页或首页？未找到适宜正文内容。