人工和工业机器人重复操作定位精度比较 毕业设计外文资料翻译

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1、毕业设计外文资料翻译题目人工和工业机器人重复操作定位精度比较学院机械工程学院专业机械工程及自动化班级学生学号指导教师二〇一三年三月三十日-14--14-ComputersinBiologyandMedicine28(1998)415-421ComparisonofpositionrepeatabilityofahumanoperatorandanindustrialmanipulatingrobotJureZupancic*,TadejBajdFacultyofElectricalEngineering,UniversityofLjubljana,TrzÏas

2、Ïka25,SI-1000Ljubljana,SloveniaReceived8December1997AbstractRobotperformancecriteriaofpositionrepeatabilityarestudied.Weight-to-payloadratioisinmanipulatingrobotssignificantlyhigherthaninhumanoperators.Bracingstrategyimprovingtherobotperformancesisintroducedinthepaper.Thestrategycop

3、ieshumanbehaviorduringfinemotionoperations.Acomparisonismadebetweentherobotandthehumanoperatorperformingapproximatelythesamemanipulatingtask.ContactlessmeasurementsofpositionrepeatabilitywereaccomplishedwiththeOPTOTRAK®motionanalysissystem.Theresultsoftestsdemonstrateconsiderableimp

4、rovementofrobotandhumanoperator'spositionrepeatabilitywhenusingbracing.©1998ElsevierScienceLtd.Allrightsreserved.Keywords:Industrialrobot;Humanoperator;Repeatability;Standards;Measurements;Bracingstrategy1IntroductionModernrobotmanipulatorsreplacinghumanoperatorinassemblytasks[1]are

5、usuallydesignedinaccordancewiththeprinciplesencounteredinhumansandtheirarmsandhands.Themaingoalofdevelopingamechanicalcounterparttohumanoperatorisachievingofimprovedperformancessuchasspeed,payloadcapacity,positionaccuracyandrepeatability.However,whentheloadsarenotexceeding3kilograms

6、,weight-to-payloadratiofoundinrobotsisreportedtobetentimeshigherthanthesameratioassessedinhumanoperator[2].Thereductionofthisratioishighlyrelatedtooverallrobotefficiencyfromtechnicalandeconomicalpointofview.Traditionalprinciplesforimprovingthisratioareintroducinglightermaterials[3],

7、newconstructionsolutionsanddesignofnewactuators.Inaspecialcase,itispossibletoincreasetherobotabsoluteaccuracyandrepeatabilitybyusingappropriatebracing[4].Themethodofbracing[5]isadirectcopyofhumanbehaviorwheretheadaptationtohigheraccuracyandrepeatabilityrequirementsduringthefinemotio

8、noperationisrequire