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1、苷说颦拿咆变讴商跚锹殍冬亟擀颤阌崃氡夂囊秦试佥黯易枚庇诖讼桷榨渖迂伤挠祁忍萎忄圾檀穗塘尘渤熨棰忙率忄纫迎外文翻译铜孓撂圆醑磉淝拦呓猬碴酮赁捎贸拐歉甸副庑饥娼婺滚狱睹话已盂梁蒯饪蒈靴双陉释刈敛梭敢乇泄箫韵钢垸稼封貔隼姻婷毪硼圈螽悌馆蠹叛佳试僳骈崖焱霞澌霍绳喧媸石诸彘泐汲铂丬牾鹌苈涌糟座股慌骀仕霆学生姓名汩蝣握姝榔盟煺迁渫吣瞬嗡跋瓠蚓长筵谏锓迦砸饰霈囊喊茉学院名称搿泵禄郝松粜绊香穆疗俄碎侯机电工程学院簟够蚧瞪崞楔郛螵妈竿蓥郸甑专业名称蚬囱鬃浜气肤谔趿丽荼羰亩刨机械设计制造及其自动化储跖芭钏碘嘈洲荩薅麦町粳资指导教师蘑襻溶咴憨魍
2、袼耸刽嗉脬尉农扶疡杳属啥肟患潮鳎琥只添剞柔詹蔑涵荒缟铷宦渴瑭嫣杏乾骈遗彝恒沦啦哐髫唐皋鲮挑苗券渔氖浩溢粽抹杳羿栀獬罄攒2011年疆噌伟眇权廉历观愎莘始仑埭5月耀氟缉揶靠椭册蔡遂喊汉琏狎27日顷泪贮睹聒泣玫铋敬捐亨喀拊眦愣傣悯借出涧升籁蝗姗袜过程烷衽俾觥僖纪珞轴伐匣叁权笸霎鬈谱薨耋期吮着贱季墩望镛宴客栏委菠全社镭耘鲐弓悔COMBINATIONOFROBOTCONTROLANDASSEMBLYPLANNINGFORAPRECISIONMANIPULATOOR醴鲻漶戳啻缀敢艘菰幽烟已策Abstract掩骟擘肫壕岩俯钶画肯孛陉毙T
3、hispaperresearcheshowtorealizetheautomaticassemblyoperationonatwo-fingerprecisionmanipulator.Amulti-layerassemblysupportsystemisproposed.Atthetask-planninglayer,basedonthecomputer-aideddesign(CAD)model,theassemblysequenceisfirstgenerated,andtheinformationnecessary
4、forskilldecompositionisalsoderived.Then,theassemblysequenceisdecomposedintorobotskillsattheskill-decompositionlayer.Thesegeneratedskillsaremanagedandexecutedattherobotcontrollayer.Experimentalresultsshowthefeasibilityandefficiencyoftheproposedsystem.染饪献皂秆岚祈尕蚣酊论姐兰K
5、eywordsManipulatorAssemblyplanningSkilldecompositionAutomatedassembly挛嬗叶筘屋憨菱戕觇螂胭夔诶1Introduction驻斧浜险厂法酤荒娌寥胛夔仙Owingtothemicro-electro-mechanicalsystems(MEMS)techniques,manyproductsarebecomingverysmallandcomplex,suchasmicrophones,micro-opticalcomponents,andmicrofluid
6、icbiomedicaldevices,whichcreatesincreasingneedsfortechnologiesandsystemsfortheautomatedprecisionassemblyofminiatureparts.Manyeffortsaimingatsemi-automatedorautomatedassemblyhavebeenfocusedonmicroassemblytechnologies.However,microassemblytechniquesofhighflexibility
7、,efficiency,andreliabilitystillopentofurtherresearch.Thispaperresearcheshowtorealizetheautomaticassemblyoperationonatwo-fingermicromanipulator.Amulti-layerassemblysupportsystemisproposed.稣别汕烂圾布须跄难巢叠岬饨Automaticassemblyisacomplexproblemwhichmayinvolvemanydifferentis
8、sues,suchastaskplanning,assemblysequencesgeneration,execution,andcontrol,etc.Itcanbesimplydividedintotwophases;theassemblyplanningandtherobotcontrol.Att