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1、(最新版)机械手类_毕业设计外文文献翻译_ A Rapidly Deployable Manipulator System Christiaan J.J. Paredis, H. Benjamin Brown, Pradeep K. Khosla Abstract: A rapidly deployable manipulator system combines the flexibility of reconfigurable modular task. This article describes two main aspects of such a system, namely, the
2、 Reconfigurable Modular Manipulator System (RMMS) 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 t
3、able would probably no be capable of lifting the vertical direction. Therefore, to perform a given task,one needs to choose a manipulator with an appropriate mechanical structure. We propose the concept of a rapidly deployable manipulator system to address the above mentioned shortcomings of fixed c
4、onfiguration manipulators. As is illustrated in Figure 1, a rapidly deployable manipulator system consists of software and task. The central building block of a rapidly deployable system is a Reconfigurable Modular Manipulator System (RMMS). The RMMS utilizes a stock of interchangeable link and join
5、t modules of various sizes and performance specifications. One such module is shown in Figure 2. By combining these general purpose modules, a wide range of special purpose manipulators can be assembled. Recently, there considerable interest in the idea of modular manipulators 2, 4, 5, 7, 9, 10, 14,
6、 for research applications as well as for industrial applications. However, most of these systems lack the property of reconfigurability, which is key to the concept of rapidly deployable systems. The RMMS is particularly easy to reconfigure thanks to its integrated quick-coupling connectors describ
7、ed in Section 3. Effective use of the RMMS requires, Task Based Design software. This software takes as input descriptions of the task and of the available manipulator modules; it generates as output a modular assembly configuration optimally suited to perform the given task. Several different appro
8、aches used successfully to solve simpli-fied instances of this complicated problem. A third important building block of a rapidly deployable manipulator system is a framework for the generation of control software. To reduce the complexity of softwaregeneration for real-time sensor-based control sys
9、tems, a software paradigm called software assembly proposed in the Advanced Manipulators Laboratory at CMU.This paradigm combines the concept of reusable and reconfigurable software components, as is supported by the Chimera real-time operating system 15, with a graphical user interface and a visual
10、 programming language, implemented in Onika A lthough the software assembly paradigm provides thesoftware infrastructure for rapidly programming manipulator systems, it does not solve the programming problem itself. Explicit programming of sensor-based manipulator systems is cumbersome due to the ex
11、tensive amount of detail which must be specified for the robot to perform the task. The software synthesis problem for sensor-based robots can be simplified dramatically, by providing robust robotic skills, that is, encapsulated strategies for accomplishing common tasks in the robots task domain 11.
12、 Such robotic skills can then be used at the task level planning stage without example of the use of a rapidly deployable system,consider a manipulator in a nuclear environment where it must inspect material and space for radioactive contamination, or assemble and repair equipment. In such an enviro
13、nment, widely varied kinematic (e.g., workspace) and dynamic (e.g., speed, payload) performance is required, and these requirements may not be known a priori. Instead of preparing a large set of different manipulators to accomplish these tasksan expensive solutionone can use a rapidly deployable man
14、ipulator system. Consider the following scenario: as soon as a specific task is identified, the task based design software determinesthe task. This optimal configuration is thenassembled from the RMMS modules by a or, in the future, possibly by another manipulator. The resulting manipulator is rapid
15、ly programmed by using the software assembly paradigm and our library of robotic skills. Finally,the manipulator is deployed to perform its task. Although such a scenario is still futuristic, the development of the reconfigurable modular manipulator system, described in this paper, is a major step f
16、orward towards our goal of a rapidly deployable manipulator system. Our approach could form the basis for the next generation of autonomous manipulators, in which the traditional notion of sensor-based autonomy is extended to configuration-based autonomy. Indeed, although a deployed system can it ne
17、eds, it may still not be able to accomplish its task because the task is beyond the systems physical capabilities. A rapidly deployable system, on the other task specifications and, with advanced sensing, control, and planning strategies, accomplish the task autonomously. 2 Design of self-contained
18、most industrial manipulators, the controller is a separate unit each of the joints of the manipulator. The large number of electrical connections and the non-extensible nature of such a system layout make it infeasible for modular manipulators. The solution we propose is to distribute the control be
19、come self-contained units which include sensors, an actuator, a brake, a transmission, a sensor interface, a motor amplifier, and a communication interface, as is illustrated in Figure 3. As a result, only six wires are required for power distribution and data communication. 2.1 Mechanical design Th
20、e goal of the RMMS project is to in Figure 2), and one rotate joint module. The base module and the link module of the joint modules compactly fits a DC-motor, a fail-safe brake, a tachometer, a -line configuration respectively, but are identical internally. Figure 4 shows in cross-section the inter
21、nal structure of a pivot joint. Each joint module includes a DC torque motor and 100:1 The custom-designed on-board electronics are also designed according to the principle of modularity. Each RMMS module contains a motherboard which provides the basic functionality and onto which daughtercards can
22、be stacked to add module specific functionality. The motherboard consists of a Siemens 80C166 microcontroller, 64K of ROM, 64K of RAM, an SMC COM20220 universal local area network controller with an RS-485 driver, and an RS-232 driver. The function of the motherboard is to establish communication wi
23、th the RS-485 bus and to perform the lowlevel control of the module, as is explained in more detail in Section 4. The RS-232 serial bus driver allows for simple diagnostics and software prototyping. A stacking connector permits the addition of an indefinite number of daughtercards with various funct
24、ions, such as sensor interfaces, motor controllers, RAM expansion etc. In our current implementation, only modules with actuators include a daughtercard. This card contains a 16 bit resolver to digital converter, a 12 bit AD converter to interface with the tachometer, and a 12 bit DA converter to co
25、ntrol the motor amplifier; we ofthe-shelf motor amplifier (Galil Motion Control model SSA-880) to drive the DC-motor. For modules with more than one degree-of-freedom, for instance a wrist module, more than one such daughtercard can be stacked onto the same motherboard. 3 Integrated quick-coupling c
26、onnectors To make a modular manipulator be reconfigurable, it is necessary that the modules can be easily connected with each other. We between modules can be achieved by simply turning a ring in Figure 5, keyed flanges provide precise registration of the two modules. Turning of the locking collar o
27、n the male end produces two distinct motions: first the fingers of the locking ring rotate (with the collar) about 22.5 degrees and capture the fingers on the flanges; second, the collar rotates relative to the locking ring, while a cam mechanism forces the fingers inward to securely grip the mating
28、 flanges. A ball- transfer mechanism between the collar and locking ring automatically produces this sequence of motions. At the same time the mechanical connection is made,pneumatic and electronic connections are also established. Inside the locking ring is a modular connector that the middle. Thes
29、e correspond to matching female components on the mating connector. Sets of pins are wired in parallel to carry the 72V-25A power for motors and brakes, and 48V6A power for the electronics. Additional pins carry signals for two RS-485 serial communication busses and four video busses. A plastic guid
30、e collar plus six alignment pins prevent damage to the connector pins and assure proper alignment. The plastic block rotate in the orientations LED in the female connector and eight photodetectors in the male connector. 4 ARMbus communication system Each of the modules of the RMMS communicates with
31、a VME-based is done in a serial fashion over an RS-485 bus which runs through the length of the manipulator. We use the ARCNET protocol 1 implemented on a dedicated IC (SMC COM20220). ARCNET is a deterministic token-passing network scheme which avoids network collisions and guarantees each node its
32、time to access the network. Blocks of information called packets may be sent from any node on the network to any one of the other nodes, or to all nodes simultaneously (broadcast). Each node may send one packet each time it gets the token. The maximum network throughput is 5Mbs. The first node of th
33、e network resides on the Figure 6. In addition to a VME address decoder, this card contains essentially the same find on a module motherboard. The communication between the VME side of the card and the ARCNET side occurs through dual-port RAM. There are two kinds of data passed over the local area n
34、etwork. During the manipulator initialization phase, the modules connect to the network one by one, starting at the base and ending at the end-effector. On joining the network, each module sends a data-packet to the with respect to the previous module. This information allows us to automatically det
35、ermine the current manipulator configuration. During the operation phase, the the control modecentralized or distributed. In centralized control mode, the torques for all the joints are computed on the VME-based real-time processing unit (RTPU), assembled into a data-packet by the microcontroller on
36、 the distributed control mode, on the other each module, the control loop can then be closed at a frequency much 400Hz. The modules still send sensor readings back to the the computation of the subsequent feed-forward torque. 5 Modular and reconfigurable control software The control software for the
37、 RMMS developed using the Chimera real-time operating system, which supports reconfigurable and reusable software components 15. The software components used to control the RMMS are listed in Table 1. The trjjline, dls, and grav_comp components require the knowledge of certain configuration dependen
38、t parameters of the RMMS, such as the number of degrees-of-freedom, the Denavit-Hartenberg parameters etc. During the initialization phase, the RMMS interface establishes contact with each of the which order and orientation they assembled. For each module, a data file with a parametric model is read
39、. By combining this information for all the modules, kinematic and dynamic models of the entire manipulator are built. After the initialization, the rmms software component operates in a distributed control mode in which the microcontrollers of each of the RMMS modules perform PID control locally at
40、 1900Hz. The communication between the modules and the differ from the cycle frequency of the rmms software component. Since we use a triple buffer mechanism 16 for the communication through the dual-port RAM on the ARMbus or numerically. 6 Seamless integration of simulation To assist the user in ev
41、aluating whether an RMMS con- figuration can successfully complete a given task, we the TeleGrip robot simulation software from Deneb Inc., and runs on an SGI Crimson which is connected with the real-time processing unit through a Bit3 VME-to-VME adaptor, as is shown in Figure 6. A graphical user in
42、terface allows the user to assemble simulated RMMS configurations very much like assembling the real be tested and programmed using the TeleGrip functions for robot devices. The configurations can also be interfaced with the Chimera real-time softwarerunning on the same RTPUs used to control the act
43、ual RMMS simulation compared with the actual task execution. 7 Summary We be assembled in a large number of different configurations to tailor the kinematic and dynamic properties of the manipulator to the task at by building kinematic and dynamic models of the manipulator; this is totally transpare
44、nt to the user. To assist the user in evaluating whether a manipulator configuration is well suited for a given task, we part by DOE under grant DE-F902-89ER14042, by Sandia National Laboratories under contract AL-3020, by the Department of Electrical and Computer Engineering, and by The Robotics In
45、stitute, Carnegie Mellon University. The authors would also like to thank Randy Casciola, Mark DeLouis, Eric Hoffman, and Jim Moody for their valuable contributions to the design of the RMMS system. 附件二： 可迅速布置的机械手系统 作者：Christiaan J.J. Paredis, H. Benjamin Brown, Pradeep K. Khosla 摘要： 一个迅速可部署的机械手系统，可
46、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，需要有一个合适的机械结构来选择机械手。 我们提议一个迅速可部署的机械手系统的概念来处理固定构造的机械手的上述的缺点。一迅速可部署机械手系统由迅速建造的软件和硬件组成，
47、是适合一规定任务的一个机械手。 一个迅速可部署的系统的中心的组成部分是一个再组合的标准化的机械手系统 (RMMS)。 RMMS利用一可交换的连接的和各种尺寸和性能的共同模件。通过结合这些多功能的模件，大范围专用机械手可以被收集。最近，有相当多的对机械手标准化的想法的兴趣。但是，对于研究应用以及为工业应用来说，大多数这些系统缺乏的必要的能力，这是迅速可部署的体制的概念的关键。 有效的使用RMMS需要基于任务的设计软件。这软件认为是任务和可得到的操纵者模件的输入描述；作为一标准化会议构造最佳适合执行规定任务的业务的产量产生。几种不同的方法已经被成功使用解决这个错综复杂的问题的。 一个迅速可部署的机
48、械手系统的第 3 个重要的组成部分是控制软件的代的一种框架。为实时基于传感器的控制系统降低软件生成的复杂性，一个软件范例叫软件为会议已经在CMU先进的操纵者实验室里被提出。这个范例结合可重复使用和再组合的软件成分的概念，象妄想实时操作系统支持的那样,用一个图形用户界面和可视程序设计语言而实施. 虽然软件会议范例提供迅速编程操纵者系统的软件基础设施，但是它不解决编程问题。基于传感器的机械手系统的明确编程由于必须被为机器人指定执行任务的广大数量的细节是麻烦的。基于传感器的机器人的软件综合问题可以被简化，通过提供坚固的机器人技能，即，为在机器人任务域完成普通任务封装策略. 这样机器人技能能在而不需要考虑任何低级的细节的任务步计划阶段使用。 作为使用一个迅速可部署的系统的例子，在一种核环境里，在那里它必须检查材料和放射性污染的空间，或者集合和修理设备考虑一个操纵者。在这样的一种环境里，广泛改变的动态的(例如，工作区)和动态的(例如，速度，净载重量)性能被要求，并且这些要求可能不被知道priori。不得不准备大套要完成这几次任务的不同操纵者一昂贵解决办法一使用迅速可部署操纵者系统能。考虑下列脚本：一项具体的任务一被鉴定，基于任务的设计软件就使最佳的标准化的会议构造下决心进行任务。人们然后从RMMS 模件装配这个最佳的构造或者，将来，也