搬运机械手的结构和液压系统设计机械手外文翻译附原文

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1、外丈翻啥（附外丈原丈丿学院：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Proceedingsofthe33rdChineseControlConferenceJuly28-30,2014,Nanjing,ChinaTheRemoteControlSystemoftheManipulatorE-mail:_Abstract：Aremotecontrolsystemofthe5degreeoffreedommanipulatorwas

2、designed.Thismanipulatorwasinstalledintoourmobilerobottoconstitutearemoterescuerobot.TheDenavit-Hartenbergmethodwasusedtoestablishthekinematicmodelsandthepathplanningofthemanipulatorwasresearched.TheoperatorcouldremotecontrolthemanipulatorbytheinteractiveinterfaceofPCwhich

3、coulddisplaymovingpictureandvariousdataofthemanipulator.TheservosofthemanipulatorwerecontrolledbytheslaveFPGAcontrolle匚Inaddition,theslaveFPGAcontrollercommunicatedwiththePCviathewirelesscommunicationmodule.OwingtotheembeddedNiosIIprogramandIP(IntellectualProperty)coregene

4、ratingPWMwavesinFPGA,thesystemcouldcontrolthemultipleservosfastandflexible.Inordertoachievereal-timeoperationandsimulation,theinteractiveinterfacewasestablishedbythemixedprogrammingofVCandMATLAB・KeyWords：Themanipulator;Remotecontrol;Denavit-Hartenberg;FPGA;Human-computerin

5、teraction1IntroductionWiththedevelopmentofthemicroelectronictechniqueandthecomputertechnology,themanipulatorhasbecomeessentialequipmentinthemanufacturingindustry.Asweallknown,themanipulatorisusuallyappliedtoaccomplishdull,onerousandrepeatedphysicalwork,especiallyusedtosubs

6、titutethemanualoperationunderthedangerousandthehazardousenvironmentsuchasthecorrosionandthehightemperature.Inthispaper,themanipulatorwasinstalledourmobilerobot.Thetele-operationsystemofthismanipulatorwasdesigned.ThewholesystemisonstitutedbyPCandslaveFPGA.Theoperatorcanremo

7、tecontrolthemanipulatorbyPC.ThewirelesscommunicationwasusedfortransmittingdatabetweenPCandFPGA.FPGAiscontrollerofthethemanipulatorinthemobilerobot.FPGAhastheabundantinternalresourceandIPcores.AndacentralcontroloptionwasbuiltviaanembeddedNiosIIprogramandanIPcoreinFPGA.Furth

8、ermore,VeriloglanguagewasadoptedtodesigntheIPcorewhichgenerateddigitalPWMwavesforcontroll