第一篇：機(jī)械 外文翻譯 外文文獻(xiàn) 英文文獻(xiàn) 一個(gè)復(fù)雜紙盒的包裝機(jī)器人

附件1：外文資料翻譯譯文

一個(gè)復(fù)雜紙盒的包裝機(jī)器人

Venketesh N.Dubey 英國(guó)設(shè)計(jì)學(xué)院，工程和計(jì)算機(jī)，伯恩茅斯大學(xué)，普爾

Jian S.Dai 倫敦大學(xué)國(guó)王學(xué)院，英國(guó)倫敦大學(xué)，倫敦

摘要

目的—為了展示設(shè)計(jì)一種可以折疊復(fù)雜幾何形狀的紙盒的多功能包裝機(jī)的可行性。設(shè)計(jì)/方法/方式—這項(xiàng)研究對(duì)各種幾何形狀的紙盒進(jìn)行研究，將紙盒分為適當(dāng)?shù)念愋鸵约皺C(jī)器可以實(shí)現(xiàn)的操作；把能加工這些紙盒，并進(jìn)行機(jī)械建模和仿真，且最終可以設(shè)計(jì)和開發(fā)的包裝機(jī)概念化。

研究結(jié)果—這種多功能包裝機(jī)已經(jīng)被證明是可能的。只需將這種多功能包裝機(jī)小型化，并對(duì)它投資以促進(jìn)其發(fā)展，這種機(jī)器可以成為現(xiàn)實(shí)。

研究限制因素/問題—本研究的目的是證明這種包裝機(jī)的原理，但實(shí)際應(yīng)用需要考慮結(jié)合傳感器給出了一個(gè)緊湊的、便攜式系統(tǒng)。

創(chuàng)意/價(jià)值—這項(xiàng)設(shè)計(jì)是獨(dú)一無二的，并已被證明可以折疊各種復(fù)雜形狀的紙盒。關(guān)鍵字：機(jī)器人技術(shù) 包裝 自動(dòng)化 文章類型：研究論文簡(jiǎn)介

產(chǎn)品包裝是關(guān)鍵的工業(yè)領(lǐng)域之一，以自動(dòng)化為首要權(quán)益。任何產(chǎn)品流通到消費(fèi)者手中需要某種形式的包裝，無論是食品、禮品或醫(yī)療用品。因此，對(duì)高速的產(chǎn)品包裝有持續(xù)的需求。對(duì)于周期性消費(fèi)品和精美禮品，這項(xiàng)需求更是大大增加。它們要求包裝設(shè)計(jì)新穎且有吸引力，以吸引潛在客戶。通常這類產(chǎn)品用外觀精美、形狀復(fù)雜的紙盒遞送。如果采用手工方法進(jìn)行包裝，不僅令工人感到乏味且操作復(fù)雜，也費(fèi)時(shí)和單調(diào)。

對(duì)于簡(jiǎn)單的紙盒包裝，通過使用沿傳送帶布置的專用機(jī)器，已經(jīng)獲得了實(shí)現(xiàn)。這些機(jī)器只能處理固定類型的紙盒，任何形狀和結(jié)構(gòu)的變化很難納入到系統(tǒng)之中。在大多數(shù)情況下，它們需要進(jìn)行超過40種變化以適應(yīng)同種類型但大小不同的紙盒，這就意味著每一個(gè)特定類型的紙盒需要一條包裝生產(chǎn)線。從一種類型到另一種類型的紙盒折疊組裝生產(chǎn)線的轉(zhuǎn)換將會(huì)使資本支出增加。因?yàn)檫@些限制因素和轉(zhuǎn)換生產(chǎn)線的相關(guān)成本，包裝的靈活性將會(huì)失去。

因此，作為一種補(bǔ)充，手工生產(chǎn)線被引進(jìn)以適應(yīng)不同類型的紙盒的生產(chǎn),從而解決轉(zhuǎn)換生產(chǎn)線的問題。它們承擔(dān)了大約10%的工作訂單，并被用作生產(chǎn)促銷產(chǎn)品的組裝生產(chǎn)線。但是，問題仍然存在，手工生產(chǎn)線上的管理員和操作工需要一個(gè)長(zhǎng)時(shí)間的學(xué)習(xí)過程，而且與機(jī)器生產(chǎn)線不同，勞動(dòng)傷害主要是源于扭手動(dòng)作。此外，手工生產(chǎn)線通常被認(rèn)為是一個(gè)季節(jié)性的生產(chǎn)力，仍然需要專門的機(jī)器長(zhǎng)年運(yùn)行，以節(jié)約成本和時(shí)間。設(shè)計(jì)師追求奇幻和獨(dú)特的紙盒包裝以響應(yīng)競(jìng)爭(zhēng)激烈的市場(chǎng)，使包裝工作更加困難。紙盒的風(fēng)格和類型的頻繁變化和小批量生產(chǎn)對(duì)紙盒裝配和包裝生產(chǎn)線提出了挑戰(zhàn)，為此需要設(shè)計(jì)一種靈活的機(jī)器。

因此，這項(xiàng)責(zé)任放在了包裝行業(yè)的身上,在可編程和可重構(gòu)系統(tǒng)的幫助下充分加快轉(zhuǎn)換過程以處理不同類型的紙盒。這種靈活的和高度可重構(gòu)的系統(tǒng)的開發(fā)需要進(jìn)行系統(tǒng)的分析和綜合每個(gè)部件，即紙盒和紙盒的折疊模式、包裝紙盒的機(jī)器、完整的組裝操作。一種這樣的方法（Lu和Akella，2000年）已經(jīng)公布了,該方法使用固定裝置來折疊紙盒。雖然這種方法能完成紙盒所有折疊操作，但實(shí)施的工作只是處理一個(gè)簡(jiǎn)單的矩形箱,其固定的自動(dòng)裝置被安裝在指定的位置。但是，對(duì)于復(fù)雜幾何體紙盒，需要對(duì)紙盒和折疊機(jī)構(gòu)進(jìn)行綜合考慮，從而實(shí)現(xiàn)包裝生產(chǎn)線的柔性自動(dòng)化。

在復(fù)雜紙盒的折疊操作及工序分析方面，作者開展了大量的研究，并訴諸于圖形理論、螺旋理論、矩陣?yán)碚撉乙砸环N空間結(jié)構(gòu)表示紙盒；及其研究紙盒移動(dòng)性和分析其結(jié)構(gòu)外形（Dai and Rees Jones，1997a，b，c，1999；Dubey et al.1999a，b，c；Dubey and Dai，2001）。本文介紹從事設(shè)計(jì)能處理復(fù)雜幾何形狀紙盒的可重構(gòu)紙盒折疊機(jī)的研究。設(shè)計(jì)和原理的需要

該項(xiàng)目被列在許多化妝品和香水供應(yīng)商的愿望列表上，如伊麗莎白雅頓和卡爾文·克萊恩，并被Unilever Research UK積極地考慮了數(shù)年。他們?cè)敢庵С秩魏我环N能夠使用一些替代手段從而實(shí)現(xiàn)整個(gè)花式紙盒包裝過程自動(dòng)化的研究思想。結(jié)果，這個(gè)

23一臺(tái)電動(dòng)機(jī)驅(qū)動(dòng)做垂直運(yùn)動(dòng)以及轉(zhuǎn)動(dòng)，從而使紙盒達(dá)到包裝操作所需的任何位置。手指的關(guān)節(jié)直接通過關(guān)節(jié)馬達(dá)驅(qū)動(dòng)，整個(gè)系統(tǒng)需要控制14個(gè)軸。這些考量是基于高度的可重構(gòu)性與控制最小數(shù)量的軸。

指尖的設(shè)計(jì)進(jìn)行了專門地考慮，因?yàn)樗鼈儽仨殘?zhí)行上一節(jié)所討論的各種操作功能。受手工包裝過程的啟發(fā)，指尖設(shè)計(jì)采用帶有V型槽的尖頭。根據(jù)手工包裝的需要，使其手指能在紙盒上施加“戳”和“擠”的力。該尖頭用于戳操作，在V型槽的擠壓下，紙板打開以進(jìn)行塞操作。除了提供戳力和擠力，二自由度手指的Y形部分還能給扁平紙板提供暫時(shí)的推力。在有限自由度的情況下，這樣的設(shè)計(jì)可以提供許多靈活的操作功能以處理不同構(gòu)造不同類型的紙盒。

該模型提供了機(jī)器運(yùn)行所需的全部運(yùn)動(dòng)信息（Dubey and Crowder，2003年）。包裝機(jī)的參數(shù)模型已經(jīng)被開發(fā)出來（Workspace4，1998年），幾何外形和尺寸設(shè)計(jì)的改變可以非常容易地納入到模型中，包括結(jié)構(gòu)的驗(yàn)證。這也使機(jī)器部件的運(yùn)動(dòng)參數(shù)能在加工之前就得以確定。包裝紙盒時(shí)，在紙盒上定位各種接觸點(diǎn)，通過記錄的各種接觸點(diǎn)的位移，就可以實(shí)現(xiàn)手指的紙箱之間的運(yùn)動(dòng)的連通性。紙箱上的接觸點(diǎn)可以由折疊次序的幾何表示鑒別（Dubey and Dai，2001）。這些接觸點(diǎn)用于測(cè)量每個(gè)手指關(guān)節(jié)的偏移量。將這些位移數(shù)據(jù)進(jìn)行插值運(yùn)算，生成最優(yōu)手指路徑，盡量減少不必要的手指運(yùn)動(dòng)，從而減少包裝的周期時(shí)間。從模型中獲得的插補(bǔ)數(shù)據(jù)可以下載，用以驅(qū)動(dòng)手指。當(dāng)前的研究工作是基于紙盒的幾何特征及其折疊次序的研究，使整個(gè)包裝過程可以實(shí)現(xiàn)自動(dòng)化（迪比等，2000），而不是借助于紙盒的仿真。

圖5顯示了當(dāng)紙盒折疊時(shí),手指跟蹤紙盒上的接觸點(diǎn)。模擬模型為包裝機(jī)器的設(shè)計(jì)以及控制提供了許多有價(jià)值的信息。例如，在維度和結(jié)構(gòu)決定之前，模擬模型可用來檢查機(jī)器的幾何以及結(jié)構(gòu)。通過改變模型的基本尺寸參數(shù),任何新的機(jī)械零件幾何信息都可直接獲得。在紙盒的折疊過程中所得的運(yùn)動(dòng)數(shù)據(jù)和軌跡可用于手指系統(tǒng)控制。目前，模擬運(yùn)動(dòng)參數(shù)不可從直接整合到控制器中，因此這些數(shù)據(jù)都必須以數(shù)據(jù)文件的形式輸入到控制器中。不過，這種方法可全面地校核折疊次序，然后下載這些數(shù)據(jù)并輸入到控制器中。

插圖2 另一種紙盒的包裝機(jī) 討論和結(jié)論

本文提出了一份靈活的、可重構(gòu)的裝配和包裝系統(tǒng)。本研究的目的是設(shè)計(jì)一個(gè)可以處理不同幾何形狀的紙盒可重構(gòu)的裝配和包裝系統(tǒng)。最初的想法是要開發(fā)一個(gè)可以展示對(duì)不同風(fēng)格和復(fù)雜形狀的紙盒的適應(yīng)能力的系統(tǒng)。結(jié)果表明，該包裝機(jī)可以折疊兩個(gè)完全不同形狀的紙盒。在任何情況下，折疊周期約為45s。雖然這不是一個(gè)優(yōu)化的折疊時(shí)間，但是采用在線數(shù)據(jù)傳輸有望減少周期時(shí)間至30秒或更少。雖然一個(gè)非常靈活的紙盒包裝機(jī)在用于車間生產(chǎn)之前仍有許多問題需要解決。不過，本研究的目的是驗(yàn)證面向包裝行業(yè)的快速轉(zhuǎn)換技術(shù)。

未來需要改進(jìn)的部分包括優(yōu)化手指導(dǎo)軌，使用力反饋觸覺傳感器，以避免紙板上的壓力過大，且將在真空裝置中進(jìn)行折疊操作。還建議將仿真模型與實(shí)際機(jī)器相結(jié)合,使其能下載在線數(shù)據(jù)。X-Y工作臺(tái)可用電機(jī)驅(qū)動(dòng)和控制,實(shí)現(xiàn)自動(dòng)重構(gòu)。這些先進(jìn)的技術(shù)，將使整個(gè)包裝過程自動(dòng)化, 從紙盒的二維圖開始，然后確定其運(yùn)動(dòng)學(xué)特性并生成運(yùn)動(dòng)序列到完成產(chǎn)品包裝。此外，如果能小型化，還計(jì)劃將靈活的、可重構(gòu)的機(jī)械手安裝在一個(gè)機(jī)器人手臂上以得到更高靈活性。該系統(tǒng)不僅能進(jìn)行紙盒折疊，也可以在折疊的同時(shí)將產(chǎn)品放入紙盒中。這將減少包裝時(shí)間，也能夠迎接對(duì)不斷變化的高端私人產(chǎn)品包裝需求的高度適應(yīng)性的挑戰(zhàn)。參考文獻(xiàn)

Dai, J.S.(1996a), “Survey and business case study of the exterous reconfigurable assembly

metamorphic mechanism”, paper presented at Tenth World Congress on the Theory of Machine and Mechanisms(IFToMM), pp.98-103.Lu, L.and Akella, S.(2000), “Folding cartons with fixtures: a motion planning approach”, IEEE Transactions on Robotics and Automation, Vol.16 No.4, pp.346-56.Workspace4w(1998), User’s Guide, Robot Simulations Ltd, Newcastle upon Tyne.附件2：外文原文

（復(fù)印件）

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第二篇：機(jī)械_外文翻譯_外文文獻(xiàn)_英文文獻(xiàn)_一個(gè)復(fù)雜紙盒的包裝機(jī)器人

一個(gè)復(fù)雜紙盒的包裝機(jī)器人

一個(gè)復(fù)雜紙盒的包裝機(jī)器人

Venketesh N.Dubey British School of Design, engineering and computers, Bournemouth University, Poole

Jian of S.Dai King's College London, University of London, London 摘要

目的—為了展示設(shè)計(jì)一種可以折疊復(fù)雜幾何形狀的紙盒的多功能包裝機(jī)的可行性。

設(shè)計(jì)/方法/方式—這項(xiàng)研究對(duì)各種幾何形狀的紙盒進(jìn)行研究，將紙盒分為適當(dāng)?shù)念愋鸵约皺C(jī)器可以實(shí)現(xiàn)的操作；把能加工這些紙盒，并進(jìn)行機(jī)械建模和仿真，且最終可以設(shè)計(jì)和開發(fā)的包裝機(jī)概念化。

研究結(jié)果—這種多功能包裝機(jī)已經(jīng)被證明是可能的。只需將這種多功能包裝機(jī)小型化，并對(duì)它投資以促進(jìn)其發(fā)展，這種機(jī)器可以成為現(xiàn)實(shí)。

研究限制因素/問題—本研究的目的是證明這種包裝機(jī)的原理，但實(shí)際應(yīng)用需要考慮結(jié)合傳感器給出了一個(gè)緊湊的、便攜式系統(tǒng)。

創(chuàng)意/價(jià)值—這項(xiàng)設(shè)計(jì)是獨(dú)一無二的，并已被證明可以折疊各種復(fù)雜形狀的紙盒。關(guān)鍵字：機(jī)器人技術(shù) 包裝 自動(dòng)化 文章類型：研究論文 簡(jiǎn)介

產(chǎn)品包裝是關(guān)鍵的工業(yè)領(lǐng)域之一，以自動(dòng)化為首要權(quán)益。任何產(chǎn)品流通到消費(fèi)者手中需要某種形式的包裝，無論是食品、禮品或醫(yī)療用品。因此，對(duì)高速的產(chǎn)品包裝有持續(xù)的需求。對(duì)于周期性消費(fèi)品和精美禮品，這項(xiàng)需求更是大大增加。它們要求包裝設(shè)計(jì)新穎且有吸引力，以吸引潛在客戶。通常這類產(chǎn)品用外觀精美、形狀復(fù)雜的紙盒遞送。如果采用手工方法進(jìn)行包裝，不僅令工人感到乏味且操作復(fù)雜，也費(fèi)時(shí)和單調(diào)。

對(duì)于簡(jiǎn)單的紙盒包裝，通過使用沿傳送帶布置的專用機(jī)器，已經(jīng)獲得了實(shí)現(xiàn)。這些機(jī)器只能處理固定類型的紙盒，任何形狀和結(jié)構(gòu)的變化很難納入到系統(tǒng)之中。在大多數(shù)情況下，它們需要進(jìn)行超過40種變化以適應(yīng)同種類型但大小不同的紙盒，這就意味著

一個(gè)復(fù)雜紙盒的包裝機(jī)器人

每一個(gè)特定類型的紙盒需要一條包裝生產(chǎn)線。從一種類型到另一種類型的紙盒折疊組裝生產(chǎn)線的轉(zhuǎn)換將會(huì)使資本支出增加。因?yàn)檫@些限制因素和轉(zhuǎn)換生產(chǎn)線的相關(guān)成本，包裝的靈活性將會(huì)失去。

因此，作為一種補(bǔ)充，手工生產(chǎn)線被引進(jìn)以適應(yīng)不同類型的紙盒的生產(chǎn),從而解決轉(zhuǎn)換生產(chǎn)線的問題。它們承擔(dān)了大約10%的工作訂單，并被用作生產(chǎn)促銷產(chǎn)品的組裝生產(chǎn)線。但是，問題仍然存在，手工生產(chǎn)線上的管理員和操作工需要一個(gè)長(zhǎng)時(shí)間的學(xué)習(xí)過程，而且與機(jī)器生產(chǎn)線不同，勞動(dòng)傷害主要是源于扭手動(dòng)作。此外，手工生產(chǎn)線通常被認(rèn)為是一個(gè)季節(jié)性的生產(chǎn)力，仍然需要專門的機(jī)器長(zhǎng)年運(yùn)行，以節(jié)約成本和時(shí)間。設(shè)計(jì)師追求奇幻和獨(dú)特的紙盒包裝以響應(yīng)競(jìng)爭(zhēng)激烈的市場(chǎng)，使包裝工作更加困難。紙盒的風(fēng)格和類型的頻繁變化和小批量生產(chǎn)對(duì)紙盒裝配和包裝生產(chǎn)線提出了挑戰(zhàn)，為此需要設(shè)計(jì)一種靈活的機(jī)器。

因此，這項(xiàng)責(zé)任放在了包裝行業(yè)的身上,在可編程和可重構(gòu)系統(tǒng)的幫助下充分加快轉(zhuǎn)換過程以處理不同類型的紙盒。這種靈活的和高度可重構(gòu)的系統(tǒng)的開發(fā)需要進(jìn)行系統(tǒng)的分析和綜合每個(gè)部件，即紙盒和紙盒的折疊模式、包裝紙盒的機(jī)器、完整的組裝操作。一種這樣的方法（Lu和Akella，2000年）已經(jīng)公布了,該方法使用固定裝置來折疊紙盒。雖然這種方法能完成紙盒所有折疊操作，但實(shí)施的工作只是處理一個(gè)簡(jiǎn)單的矩形箱,其固定的自動(dòng)裝置被安裝在指定的位置。但是，對(duì)于復(fù)雜幾何體紙盒，需要對(duì)紙盒和折疊機(jī)構(gòu)進(jìn)行綜合考慮，從而實(shí)現(xiàn)包裝生產(chǎn)線的柔性自動(dòng)化。

在復(fù)雜紙盒的折疊操作及工序分析方面，作者開展了大量的研究，并訴諸于圖形理論、螺旋理論、矩陣?yán)碚撉乙砸环N空間結(jié)構(gòu)表示紙盒；及其研究紙盒移動(dòng)性和分析其結(jié)構(gòu)外形（Dai and Rees Jones，1997a，b，c，1999；Dubey et al.1999a，b，c；Dubey and Dai，2001）。本文介紹從事設(shè)計(jì)能處理復(fù)雜幾何形狀紙盒的可重構(gòu)紙盒折疊機(jī)的研究。設(shè)計(jì)和原理的需要

該項(xiàng)目被列在許多化妝品和香水供應(yīng)商的愿望列表上，如伊麗莎白雅頓和卡爾文·克萊恩，并被Unilever Research UK積極地考慮了數(shù)年。他們?cè)敢庵С秩魏我环N能夠使用一些替代手段從而實(shí)現(xiàn)整個(gè)花式紙盒包裝過程自動(dòng)化的研究思想。結(jié)果，這個(gè)項(xiàng)目是由英國(guó)和荷蘭聯(lián)合利華財(cái)團(tuán)贊助，以探索開發(fā)一種可處理各種形狀和尺寸的紙盒的柔性包裝機(jī)的可行性。這項(xiàng)研究由手工包裝流程的研究開始，揭示了當(dāng)從簡(jiǎn)單的紙盒的生產(chǎn)轉(zhuǎn)換到一個(gè)復(fù)雜的紙盒的生產(chǎn)時(shí)，要求包裝機(jī)具有較高的靈活性（Dai, 1996年）。

一個(gè)復(fù)雜紙盒的包裝機(jī)器人

為了歸納折疊步驟，對(duì)各種形狀的紙盒進(jìn)行了研究，并把紙盒分類，如圖3所示。它也顯示了紙盒包裝所涉及的各種操作。尤其是要注意，大多數(shù)紙盒必須經(jīng)過三個(gè)步驟，豎立、插入[1]和閉合。但除了托盤式紙盒以外，在其他情況下，依據(jù)紙盒外形的復(fù)雜程度，其包裝步驟涉及各種操作（其中有些如上所述）。

圖3 紙盒包裝操作

設(shè)計(jì)一種建造和折疊這種紙盒的機(jī)械系統(tǒng)需要考慮以下幾點(diǎn)： ● 多功能。提供各種操作功能，包括撥、折、擠和扭操作?！?靈活。能夠以不同的方式達(dá)到操作位置。● 控制最小數(shù)量的軸。降低系統(tǒng)的復(fù)雜性。

● 可重構(gòu)性。處理各種不同幾何形狀的可折疊的紙盒。

一個(gè)復(fù)雜紙盒的包裝機(jī)器人

● 可編程性。同時(shí)地、循序地控制多個(gè)軸的運(yùn)動(dòng)。

一個(gè)可以提供精細(xì)動(dòng)作及操作功能的靈活的系統(tǒng)，需要使用有關(guān)節(jié)的手指狀的鏈接。這樣的手指安裝在一個(gè)活動(dòng)底座上，例如X-Y工作臺(tái)或環(huán)形導(dǎo)軌，以此保證系統(tǒng)可重新構(gòu)建和處理不同形狀和尺寸的紙盒。控制器的架構(gòu)應(yīng)能夠獨(dú)立地驅(qū)動(dòng)各軸。該設(shè)計(jì)應(yīng)提供所有的操作功能，而又不使系統(tǒng)變地復(fù)雜，如此使其成為一個(gè)具經(jīng)濟(jì)效益的解決方案。包裝機(jī)

基于上述標(biāo)準(zhǔn)原始設(shè)計(jì)被概念化和模型化,如圖4所示。人手能夠演示各種功能是基于人手的靈活性和功能的多樣性。該設(shè)計(jì)有四個(gè)手指，兩個(gè)是三自由度的，兩個(gè)是二自由度的。三自由度的手指通過下方的關(guān)節(jié)做偏轉(zhuǎn)運(yùn)動(dòng)(Y)，依靠其余兩個(gè)關(guān)節(jié)作俯仰運(yùn)動(dòng)(P),從而形成YP-P構(gòu)型。二自由度手指只能在一個(gè)二維平面內(nèi)做俯仰運(yùn)動(dòng)。

圖4 包裝機(jī)模型

手指被安裝在導(dǎo)軌上，可沿導(dǎo)軌滑動(dòng)而且導(dǎo)軌本身可以作橫向移動(dòng)。手指都安裝在旋轉(zhuǎn)底座上，使這些軸能夠進(jìn)行適當(dāng)?shù)恼{(diào)整。兩鉗手在平行于手指水平導(dǎo)軌的方向上做推進(jìn)運(yùn)動(dòng)，如模型所示。擋板附著在鉗手上,并被安裝在下方的關(guān)節(jié)上，當(dāng)進(jìn)行推擠操作時(shí)，它們可以沿著紙盒的輪廓運(yùn)動(dòng)。紙盒放置在該方形底座底部的中心處，底座是由一臺(tái)電動(dòng)機(jī)驅(qū)動(dòng)做垂直運(yùn)動(dòng)以及轉(zhuǎn)動(dòng)，從而使紙盒達(dá)到包裝操作所需的任何位置。手指的關(guān)節(jié)直接通過關(guān)節(jié)馬達(dá)驅(qū)動(dòng)，整個(gè)系統(tǒng)需要控制14個(gè)軸。這些考量是基于高度的可重構(gòu)性與控制最小數(shù)量的軸。

一個(gè)復(fù)雜紙盒的包裝機(jī)器人

指尖的設(shè)計(jì)進(jìn)行了專門地考慮，因?yàn)樗鼈儽仨殘?zhí)行上一節(jié)所討論的各種操作功能。受手工包裝過程的啟發(fā)，指尖設(shè)計(jì)采用帶有V型槽的尖頭。根據(jù)手工包裝的需要，使其手指能在紙盒上施加“戳”和“擠”的力。該尖頭用于戳操作，在V型槽的擠壓下，紙板打開以進(jìn)行塞操作。除了提供戳力和擠力，二自由度手指的Y形部分還能給扁平紙板提供暫時(shí)的推力。在有限自由度的情況下，這樣的設(shè)計(jì)可以提供許多靈活的操作功能以處理不同構(gòu)造不同類型的紙盒。

該模型提供了機(jī)器運(yùn)行所需的全部運(yùn)動(dòng)信息（Dubey and Crowder，2003年）。包裝機(jī)的參數(shù)模型已經(jīng)被開發(fā)出來（Workspace4，1998年），幾何外形和尺寸設(shè)計(jì)的改變可以非常容易地納入到模型中，包括結(jié)構(gòu)的驗(yàn)證。這也使機(jī)器部件的運(yùn)動(dòng)參數(shù)能在加工之前就得以確定。包裝紙盒時(shí)，在紙盒上定位各種接觸點(diǎn)，通過記錄的各種接觸點(diǎn)的位移，就可以實(shí)現(xiàn)手指的紙箱之間的運(yùn)動(dòng)的連通性。紙箱上的接觸點(diǎn)可以由折疊次序的幾何表示鑒別（Dubey and Dai，2001）。這些接觸點(diǎn)用于測(cè)量每個(gè)手指關(guān)節(jié)的偏移量。將這些位移數(shù)據(jù)進(jìn)行插值運(yùn)算，生成最優(yōu)手指路徑，盡量減少不必要的手指運(yùn)動(dòng)，從而減少包裝的周期時(shí)間。從模型中獲得的插補(bǔ)數(shù)據(jù)可以下載，用以驅(qū)動(dòng)手指。當(dāng)前的研究工作是基于紙盒的幾何特征及其折疊次序的研究，使整個(gè)包裝過程可以實(shí)現(xiàn)自動(dòng)化（迪比等，2000），而不是借助于紙盒的仿真。

圖5顯示了當(dāng)紙盒折疊時(shí),手指跟蹤紙盒上的接觸點(diǎn)。模擬模型為包裝機(jī)器的設(shè)計(jì)以及控制提供了許多有價(jià)值的信息。例如，在維度和結(jié)構(gòu)決定之前，模擬模型可用來檢查機(jī)器的幾何以及結(jié)構(gòu)。通過改變模型的基本尺寸參數(shù),任何新的機(jī)械零件幾何信息都可直接獲得。在紙盒的折疊過程中所得的運(yùn)動(dòng)數(shù)據(jù)和軌跡可用于手指系統(tǒng)控制。目前，模擬運(yùn)動(dòng)參數(shù)不可從直接整合到控制器中，因此這些數(shù)據(jù)都必須以數(shù)據(jù)文件的形式輸入到控制器中。不過，這種方法可全面地校核折疊次序，然后下載這些數(shù)據(jù)并輸入到控制器中。

圖5 機(jī)械手折疊紙盒

一個(gè)復(fù)雜紙盒的包裝機(jī)器人 試驗(yàn)機(jī)

利用從模型中獲得的三維信息,所開發(fā)的包裝機(jī)采用三個(gè)線性電動(dòng)機(jī)；兩個(gè)用于驅(qū)動(dòng)鉗手,一個(gè)用于控制旋轉(zhuǎn)平臺(tái)的垂直運(yùn)動(dòng)。十個(gè)日本安川電氣提供的高扭矩、高性能電動(dòng)機(jī)被用在手指關(guān)節(jié)處，這些電動(dòng)機(jī)規(guī)格為：尺寸，Φ30× 30毫米；重量，70克；轉(zhuǎn)矩，0.7Nm/22.5rpm；傳動(dòng)比，80:1，諧波傳動(dòng)；光學(xué)編碼器，96脈沖/轉(zhuǎn)。這意味著10cm的手指可以提供7N的壓力，足以折疊這些花式禮品紙盒了。該控制器架構(gòu)采用四個(gè)運(yùn)動(dòng)控制程序卡片，每個(gè)卡片可以控制多達(dá)四個(gè)軸（Dubey and Crowder，2003年）。這些卡片支持C語言編程的運(yùn)動(dòng)控制，它也有一個(gè)G代碼編程界面，用于快速檢驗(yàn)和模擬加工。該統(tǒng)還采用了氣動(dòng)連接，用以連接吸盤，控制器可以通過吸盤控制啟停開關(guān)。目前采用轉(zhuǎn)動(dòng)轉(zhuǎn)盤的方式將紙盒從一個(gè)位置移到另一個(gè)位置并定位（今后還計(jì)劃用指尖上的V形槽），完成抓取操作。這將有利于處理平整的紙盒板，防止其滑動(dòng)（Dubey et al., 1999年）。

為了建立用于構(gòu)建及折疊紙盒的包裝系統(tǒng)的功能，在確定模型和包裝機(jī)兩者的幾何結(jié)構(gòu)相同之后，從模型中生成的數(shù)據(jù)文件反饋到控制器。數(shù)據(jù)文件用單獨(dú)的一行存儲(chǔ)電機(jī)協(xié)調(diào)運(yùn)行的運(yùn)動(dòng)數(shù)據(jù)，而后續(xù)行有下一階段的運(yùn)動(dòng)控制參數(shù)。因此，控制程序按順序讀取數(shù)據(jù)，并產(chǎn)生相應(yīng)的中斷，同時(shí)發(fā)送操作命令。如此，手指能并行地、連續(xù)地重復(fù)

一個(gè)復(fù)雜紙盒的包裝機(jī)器人 討論和結(jié)論

本文提出了一份靈活的、可重構(gòu)的裝配和包裝系統(tǒng)。本研究的目的是設(shè)計(jì)一個(gè)可以處理不同幾何形狀的紙盒可重構(gòu)的裝配和包裝系統(tǒng)。最初的想法是要開發(fā)一個(gè)可以展示對(duì)不同風(fēng)格和復(fù)雜形狀的紙盒的適應(yīng)能力的系統(tǒng)。結(jié)果表明，該包裝機(jī)可以折疊兩個(gè)完全不同形狀的紙盒。在任何情況下，折疊周期約為45秒。雖然這不是一個(gè)優(yōu)化的折疊時(shí)間，但是采用在線數(shù)據(jù)傳輸有望減少周期時(shí)間至30秒或更少。雖然一個(gè)非常靈活的紙盒包裝機(jī)在用于車間生產(chǎn)之前仍有許多問題需要解決。不過，本研究的目的是驗(yàn)證面向包裝行業(yè)的快速轉(zhuǎn)換技術(shù)。

未來需要改進(jìn)的部分包括優(yōu)化手指導(dǎo)軌，使用力反饋觸覺傳感器，以避免紙板上的壓力過大，且將在真空裝置中進(jìn)行折疊操作。還建議將仿真模型與實(shí)際機(jī)器相結(jié)合,使其能下載在線數(shù)據(jù)。X-Y工作臺(tái)可用電機(jī)驅(qū)動(dòng)和控制,實(shí)現(xiàn)自動(dòng)重構(gòu)。這些先進(jìn)的技術(shù)，將使整個(gè)包裝過程自動(dòng)化, 從紙盒的二維圖開始，然后確定其運(yùn)動(dòng)學(xué)特性并生成運(yùn)動(dòng)序列到完成產(chǎn)品包裝。此外，如果能小型化，還計(jì)劃將靈活的、可重構(gòu)的機(jī)械手安裝在一個(gè)機(jī)器人手臂上以得到更高靈活性。該系統(tǒng)不僅能進(jìn)行紙盒折疊，也可以在折疊的同時(shí)將產(chǎn)品放入紙盒中。這將減少包裝時(shí)間，也能夠迎接對(duì)不斷變化的高端私人產(chǎn)品包裝需求的高度適應(yīng)性的挑戰(zhàn)。

一個(gè)復(fù)雜紙盒的包裝機(jī)器人

Dubey, V.N., Dai, J.S.and Stamp, K.J.(2000), “Knowledgebased carton specification system”, Science and Technology Report, Unilever Research, Bedford.Dubey, V.N., Dai, J.S., Stamp, K.J.and Rees Jones, J.(1999b), “Kinematic simulation of a metamorphic mechanism”, paper presented at Tenth World Congress on the Theory of Machine and Mechanisms(IFToMM), pp.98-103.Lu, L.and Akella, S.(2000), “Folding cartons with fixtures: a motion planning approach”, IEEE Transactions on Robotics and Automation, Vol.16 No.4, pp.346-56.Workspace4w(1998), User’s Guide, Robot Simulations Ltd, Newcastle upon Tyne.

第三篇：機(jī)器人外文翻譯(文獻(xiàn)翻譯_中英文翻譯)

外文翻譯

外文資料：

Robots First, I explain the background robots, robot technology development.It should be said it is a common scientific and technological development of a comprehensive results, for the socio-economic development of a significant impact on a science and technology.It attributed the development of all countries in the Second World War to strengthen the economic input on strengthening the country's economic development.But they also demand the development of the productive forces the inevitable result of human development itself is the inevitable result then with the development of humanity, people constantly discuss the natural process, in understanding and reconstructing the natural process, people need to be able to liberate a slave.So this is the slave people to be able to replace the complex and engaged in heavy manual labor, People do not realize right up to the world's understanding and transformation of this technology as well as people in the development process of an objective need.Robots are three stages of development, in other words, we are accustomed to regarding robots are divided into three categories.is a first-generation robots, also known as teach-type robot, it is through a computer, to control over one of a mechanical degrees of freedom Through teaching and information stored procedures, working hours to read out information, and then issued a directive so the robot can repeat according to the people at that time said the results show this kind of movement again, For example, the car spot welding robots, only to put this spot welding process, after teaching, and it is always a repeat of a work It has the external environment is no perception that the force manipulation of the size of the work piece there does not exist, welding 0S It does not know, then this fact from the first generation robot, it will exist this shortcoming, it in the 20th century, the late 1970s, people started to study the second-generation robot, called Robot with the feeling that This feeling with the robot is similar in function of a certain feeling, for instance, force and touch, slipping, visual, hearing and who is analogous to that with all kinds of feelings, say in a robot grasping objects, In fact, it can be the size of feeling out, it can through visual, to be able to feel and identify its shape, size, color Grasping an egg, it adopted a acumen, aware of its power and the size of the slide.Third-generation robots, we were a robotics ideal pursued by the most advanced stage, called intelligent robots, So long as tell it what to do, not how to tell it to do, it will be able to complete the campaign, thinking and perception of this man-machine communication function and function Well, this current development or relative is in a smart part of the concept and meaning But the real significance of the integrity of this intelligent robot did not actually exist, but as we continued the development of science and technology, the concept of intelligent increasingly rich, it grows ever wider connotations.Now, I would like to briefly outline some of the industrial robot situation.So far, the industrial robot is the most mature and widely used category of a robot, now the world's total sales of 1.1 million Taiwan, which is the 1999 statistics, however, 1.1 million in Taiwan have been using the equipment is 75 million, this volume is not small.Overall, the Japanese industrial robots in this one, is the first of the robots to become the Kingdom, the United States have developed rapidly.Newly installed in several areas of Taiwan, which already exceeds Japan, China has only just begun to enter the stage of industrialization, has developed a variety of industrial robot prototype and small batch has been used in production.Spot welding robot is the auto production line, improve production efficiency and raise the quality of welding car, reduce the labor intensity of a robot.It is characterized by two pairs of robots for spot welding of steel plate, bearing a great need for the welding tongs, general in dozens of kilograms or more, then its speed in meters per second a 5-2 meter of such high-speed movement.So it is generally five to six degrees of freedom, load 30 to 120 kilograms, the great space, probably expected that the work of a spherical space, a high velocity, the concept of freedom, that is to say, Movement is relatively independent of the number of components, the equivalent of our body, waist is a rotary degree of freedom We have to be able to hold his arm, Arm can be bent, then this three degrees of freedom, Meanwhile there is a wrist posture adjustment to the use of the three autonomy, the general robot has six degrees of freedom.We will be able to space the three locations, three postures, the robot fully achieved, and of course we have less than six degrees of freedom.Have more than six degrees of freedom robot, in different occasions the need to configure.The second category of service robots, with the development of industrialization, especially in the past decade, Robot development in the areas of application are continuously expanding, and now a very important characteristic, as we all know, Robot has gradually shifted from manufacturing to non-manufacturing and service industries, we are talking about the car manufacturer belonging to the manufacturing industry, However, the services sector including cleaning, refueling, rescue, rescue, relief, etc.These belong to the non-manufacturing industries and service industries, so here is compared with the industrial robot, it is a very important difference.It is primarily a mobile platform, it can move to sports, there are some arms operate, also installed some as a force sensor and visual sensors, ultrasonic ranging sensors, etc.It’s surrounding environment for the conduct of identification, to determine its campaign to complete some work, this is service robot’s one of the basic characteristics.For example, domestic robot is mainly embodied in the example of some of the carpets and flooring it to the regular cleaning and vacuuming.The robot it is very meaningful, it has sensors, it can furniture and people can identify, It automatically according to a law put to the ground under the road all cleaned up.This is also the home of some robot performance.The medical robots, nearly five years of relatively rapid development of new application areas.If people in the course of an operation, doctors surgery, is a fatigue, and the other manually operated accuracy is limited.Some universities in Germany, which, facing the spine, lumbar disc disease, the identification, can automatically use the robot-aided positioning, operation and surgery Like the United States have been more than 1,000 cases of human eyeball robot surgery, the robot, also including remote-controlled approach, the right of such gastrointestinal surgery, we see on the television inside.a manipulator, about the thickness fingers such a manipulator, inserted through the abdominal viscera, people on the screen operating the machines hand, it also used the method of laser lesion laser treatment, this is the case, people would not have a very big damage to the human body.In reality, this right as a human liberation is a very good robots, medical robots it is very complex, while it is fully automated to complete all the work, there are difficulties, and generally are people to participate.This is America, the development of such a surgery Lin Bai an example, through the screen, through a remote control operator to control another manipulator, through the realization of the right abdominal surgery A few years ago our country the exhibition, the United States has been successful in achieving the right to the heart valve surgery and bypass surgery.This robot has in the area, caused a great sensation, but also, AESOP's surgical robot, In fact, it through some equipment to some of the lesions inspections, through a manipulator can be achieved on some parts of the operation Also including remotely operated manipulator, and many doctors are able to participate in the robot under surgery Robot doctor to include doctors with pliers, tweezers or a knife to replace the nurses, while lighting automatically to the doctor's movements linked, the doctor hands off, lighting went off, This is very good, a doctor's assistant.Robot is mankind's right-hand man;friendly coexistence can be a reliable friend.In future, we will see and there will be a robot space inside, as a mutual aide and friend.Robots will create the jobs issue.We believe that there would not be a “robot appointment of workers being laid off” situation, because people with the development of society, In fact the people from the heavy physical and dangerous environment liberated, so that people have a better position to work, to create a better spiritual wealth and cultural wealth.譯文資料：

機(jī)器人

首先我介紹一下機(jī)器人產(chǎn)生的背景，機(jī)器人技術(shù)的發(fā)展，它應(yīng)該說是一個(gè)科學(xué)技術(shù)發(fā)展共同的一個(gè)綜合性的結(jié)果，同時(shí)，為社會(huì)經(jīng)濟(jì)發(fā)展產(chǎn)生了一個(gè)重大影響的一門科學(xué)技術(shù)，它的發(fā)展歸功于在第二次世界大戰(zhàn)中各國(guó)加強(qiáng)了經(jīng)濟(jì)的投入，就加強(qiáng)了本國(guó)的經(jīng)濟(jì)的發(fā)展。另一方面它也是生產(chǎn)力發(fā)展的需求的必然結(jié)果，也是人類自身發(fā)展的必然結(jié)果，那么隨著人類的發(fā)展，人們?cè)诓粩嗵接懽匀贿^程中，在認(rèn)識(shí)和改造自然過程中，需要能夠解放人的一種奴隸。那么這種奴隸就是代替人們?nèi)ツ軌驈氖聫?fù)雜和繁重的體力勞動(dòng)，實(shí)現(xiàn)人們對(duì)不可達(dá)世界的認(rèn)識(shí)和改造，這也是人們?cè)诳萍及l(fā)展過程中的一個(gè)客觀需要。

機(jī)器人有三個(gè)發(fā)展階段，那么也就是說，我們習(xí)慣于把機(jī)器人分成三類，一種是第一代機(jī)器人，那么也叫示教再現(xiàn)型機(jī)器人，它是通過一個(gè)計(jì)算機(jī)，來控制一個(gè)多自由度的一個(gè)機(jī)械，通過示教存儲(chǔ)程序和信息，工作時(shí)把信息讀取出來，然后發(fā)出指令，這樣的話機(jī)器人可以重復(fù)的根據(jù)人當(dāng)時(shí)示教的結(jié)果，再現(xiàn)出這種動(dòng)作，比方說汽車的點(diǎn)焊機(jī)器人，它只要把這個(gè)點(diǎn)焊的過程示教完以后，它總是重復(fù)這樣一種工作，它對(duì)于外界的環(huán)境沒有感知，這個(gè)力操作力的大小，這個(gè)工件存在不存在，焊的好與壞，它并不知道，那么實(shí)際上這種從第一代機(jī)器人，也就存在它這種缺陷，因此，在20世紀(jì)70年代后期，人們開始研究第二代機(jī)器人，叫帶感覺的機(jī)器人，這種帶感覺的機(jī)器人是類似人在某種功能的感覺，比如說力覺、觸覺、滑覺、視覺、聽覺和人進(jìn)行相類比，有了各種各樣的感覺，比方說在機(jī)器人抓一個(gè)物體的時(shí)候，它實(shí)際上力的大小能感覺出來，它能夠通過視覺，能夠去感受和識(shí)別它的形狀、大小、顏色。抓一個(gè)雞蛋，它能通過一個(gè)觸覺，知道它的力的大小和滑動(dòng)的情況。第三代機(jī)器人，也是我們機(jī)器人學(xué)中一個(gè)理想的所追求的最高級(jí)的階段，叫智能機(jī)器人，那么只要告訴它做什么，不用告訴它怎么去做，它就能完成運(yùn)動(dòng)，感知思維和人機(jī)通訊的這種功能和機(jī)能，那么這個(gè)目前的發(fā)展還是相對(duì)的只是在局部有這種智能的概念和含義，但真正完整意義的這種智能機(jī)器人實(shí)際上并沒有存在，而只是隨著我們不斷的科學(xué)技術(shù)的發(fā)展，智能的概念越來越豐富，它內(nèi)涵越來越寬。

下邊我簡(jiǎn)單介紹一下工業(yè)機(jī)器人的一些情況。到目前為止，工業(yè)機(jī)器人是最成熟，應(yīng)用最廣泛的一類機(jī)器人，世界總量目前已經(jīng)銷售110萬臺(tái)，這是1999年的統(tǒng)計(jì)，但這110萬臺(tái)在已經(jīng)進(jìn)行裝備使用的是75萬臺(tái)，這個(gè)量也是不小的。總體情況看，日本在工業(yè)機(jī)器人這一塊，是首位的，成為機(jī)器人的王國(guó)，美國(guó)發(fā)展也很迅速，目前在新安裝的臺(tái)數(shù)方面，已經(jīng)超過了日本，中國(guó)剛開始進(jìn)入產(chǎn)業(yè)化的階段，已經(jīng)研制出多種工業(yè)機(jī)器人樣機(jī)，已有小批量在生產(chǎn)中使用。

點(diǎn)焊機(jī)器人主要是針對(duì)汽車生產(chǎn)線，提高生產(chǎn)效率，提高汽車焊接的質(zhì)量，降低工人的勞動(dòng)強(qiáng)度的一種機(jī)器人。它的特點(diǎn)是通過機(jī)器人對(duì)兩個(gè)鋼板進(jìn)行點(diǎn)焊的時(shí)候，需要承載一個(gè)很大的焊鉗，一般在幾十公斤以上，那么它的速度要求在每秒鐘一米五到兩米這樣的高速運(yùn)動(dòng)，所以它一般來說有五到六個(gè)自由度，負(fù)載三十到一百二十公斤，工作的空間很大，大概有兩米，這樣一個(gè)球形的工作空間，運(yùn)動(dòng)速度也很高，那么自由度的概念，就是說，是相對(duì)獨(dú)立運(yùn)動(dòng)的部件的個(gè)數(shù)，就相當(dāng)于我們?nèi)梭w，腰是一個(gè)回轉(zhuǎn)的自由度，我們大臂可以抬起來，小臂可以彎曲，那么這就三個(gè)自由度，同時(shí)腕部還有一個(gè)調(diào)整姿態(tài)來使用的三個(gè)自由度，所以一般的機(jī)器人有六個(gè)自由度，就能把空間的三個(gè)位置，三個(gè)姿態(tài)，機(jī)器人完全實(shí)現(xiàn)，當(dāng)然也有小于六個(gè)自由度的，也有多于六個(gè)自由度的機(jī)器人，只是在不同的需要場(chǎng)合來配置。

第二類是服務(wù)機(jī)器人，隨著工業(yè)化的發(fā)展，尤其近十年以來，機(jī)器人的發(fā)展的應(yīng)用領(lǐng)域在不斷拓寬，目前一個(gè)很重要的特征，大家都知道，機(jī)器人已經(jīng)從制造業(yè)逐漸轉(zhuǎn)向了非制造業(yè)和服務(wù)行業(yè)，剛才談的汽車制造屬于是制造業(yè)，但服務(wù)行業(yè)包括清潔、加油、救護(hù)、搶險(xiǎn)、救災(zāi)這些等等，都屬于非制造行業(yè)和服務(wù)行業(yè)，那么這里邊跟工業(yè)機(jī)器人相比，它有一個(gè)很重要的不同，它主要是一個(gè)移動(dòng)平臺(tái)，它能夠移動(dòng)、去運(yùn)動(dòng)，上面有一些手臂進(jìn)行操作，同時(shí)還裝有一些像力覺傳感器和視覺傳感器、超聲測(cè)距傳感器等等。它對(duì)周邊的環(huán)境進(jìn)行識(shí)別，來判斷它的運(yùn)動(dòng)，完成某種工作，這是服務(wù)機(jī)器人的基本的一個(gè)特點(diǎn)。

例如，家務(wù)機(jī)器人主要體現(xiàn)在像一些對(duì)地毯和地板定期的它能夠進(jìn)行清掃和吸塵，它這個(gè)機(jī)器人很有意思，它有傳感器，它能夠把家具和人能識(shí)別出來，它自動(dòng)的按照一種規(guī)律，能根據(jù)路徑把地面全部的清掃干凈，這也是家務(wù)中一些機(jī)器人的表現(xiàn)。

那么醫(yī)療機(jī)器人，是近五年來發(fā)展比較迅速的一個(gè)新的應(yīng)用領(lǐng)域。如果人手術(shù)的時(shí)候，醫(yī)生來手術(shù)，一個(gè)是疲勞，另一個(gè)人手操作的精度還是有限的。在德國(guó)一些大學(xué)里面，面向人的脊椎，如腰間盤突出這種病，進(jìn)行識(shí)別以后，能夠自動(dòng)地用機(jī)器人來輔助進(jìn)行定位，進(jìn)行操作和手術(shù)。像美國(guó)已經(jīng)有一千多例機(jī)器人對(duì)人眼球進(jìn)行手術(shù)，這樣的機(jī)器人，還包括通過遙控操作的辦法，實(shí)現(xiàn)對(duì)人的胃腸這種手術(shù)，大家在電視里邊看到，一個(gè)機(jī)械手，大概有手指這樣粗細(xì)的一個(gè)機(jī)械手，通過插入腹臟以后，人在屏幕上操作這個(gè)機(jī)器手，同時(shí)對(duì)它用激光的方法對(duì)病灶進(jìn)行激光的治療，這樣的話，人就不用很大幅度地破壞人的身體，這實(shí)際對(duì)人的一種解放，是非常好一種機(jī)器人，醫(yī)療機(jī)器人它也很復(fù)雜，一方面它完全自動(dòng)去完成各種工作，是有困難的，一般來說都是人來參與，這是美國(guó)開發(fā)的一個(gè)林白手術(shù)這樣一個(gè)例子，人通過在屏幕上，通過一個(gè)遙控操作手來控制另一個(gè)機(jī)械手，實(shí)現(xiàn)通過對(duì)人的腹腔進(jìn)行手術(shù)，前幾年我們國(guó)家展覽會(huì)上，美國(guó)已經(jīng)成功的實(shí)現(xiàn)了對(duì)人的心臟瓣膜的手術(shù)和搭橋手術(shù)，這已經(jīng)在機(jī)器人領(lǐng)域中，引起了很大的轟動(dòng)，還包括，AESOP的這種外科手術(shù)機(jī)器人，它實(shí)際上通過一些儀器能夠?qū)θ说囊恍┎∽冞M(jìn)行檢查，通過一個(gè)機(jī)械手就能夠?qū)崿F(xiàn)對(duì)人的某些部位進(jìn)行手術(shù)，還包括遙操作機(jī)械手，以及多個(gè)醫(yī)生可以在機(jī)器人共同參與下進(jìn)行手術(shù)，包括機(jī)器人給大夫醫(yī)生拿鉗子、鑷子或刀子來代替護(hù)士的工作，同時(shí)把照明能夠自動(dòng)的給醫(yī)生的動(dòng)作聯(lián)系起來，醫(yī)生的手到哪兒，照明就去哪兒，這樣非常好的，一個(gè)醫(yī)生的助手。

機(jī)器人是人類的得力助手，能友好相處的可靠朋友，將來我們會(huì)看到人和機(jī)器人會(huì)存在一個(gè)空間里邊，成為一個(gè)互相的助手和朋友。機(jī)器人會(huì)不會(huì)產(chǎn)生飯碗的問題。我們相信不會(huì)出現(xiàn)“機(jī)器人上崗，工人下崗”的局面，因?yàn)槿藗冸S著社會(huì)的發(fā)展，實(shí)際上把人們從繁重的體力和危險(xiǎn)的環(huán)境中解放出來，使人們有更好的崗位去工作，去創(chuàng)造更好的精神財(cái)富和文化財(cái)富。

第四篇：機(jī)械臂的外文文獻(xiàn)以及翻譯

附件1：外文資料翻譯譯文

機(jī)械手

機(jī)械手是近幾十年發(fā)展起來的一種高科技自動(dòng)化生產(chǎn)設(shè)備。工業(yè)機(jī)械手是工業(yè)機(jī)器人的一個(gè)重要分支。它的特點(diǎn)是可通過編程來完成各種預(yù)期的作業(yè)任務(wù)，在構(gòu)造和性能上兼有人和機(jī)器各自的優(yōu)點(diǎn)，尤其體現(xiàn)了人的智能和適應(yīng)性。機(jī)械手作業(yè)的準(zhǔn)確性和各種環(huán)境中完成作業(yè)的能力，在國(guó)民經(jīng)濟(jì)各領(lǐng)域有著廣闊的發(fā)展前景。隨著工業(yè)自動(dòng)化的發(fā)展, 出現(xiàn)了數(shù)控加工中心,它在減輕工人的勞動(dòng)強(qiáng)度的同時(shí), 大大提高了勞動(dòng)生產(chǎn)率。但數(shù)控加工中常見的上下料工序, 通常仍采用人工操作或傳統(tǒng)繼電器控制的半自動(dòng)化裝置。前者費(fèi)時(shí)費(fèi)工、效率低;后者因設(shè)計(jì)復(fù)雜, 需較多繼電器,接線繁雜, 易受車體振動(dòng)干擾,而存在可靠性差、故障多、維修困難等問題?？删幊绦蚩刂破鱌LC控制的上下料機(jī)械手控制系統(tǒng)動(dòng)作簡(jiǎn)便、線路設(shè)計(jì)合理、具有較強(qiáng)的抗干擾能力, 保證了系統(tǒng)運(yùn)行的可靠性,降低了維修率, 提高了工作效率。機(jī)械手技術(shù)涉及到力學(xué)、機(jī)械學(xué)、電氣液壓技術(shù)、自動(dòng)控制技術(shù)、傳感器技術(shù)和計(jì)算機(jī)技術(shù)等科學(xué)領(lǐng)域，是一門跨學(xué)科綜合技術(shù)。

一、工業(yè)機(jī)械手的概述

機(jī)械手是一種能自動(dòng)化定位控制并可重新編程序以變動(dòng)的多功能機(jī)器，它有多個(gè)自由度，可用來搬運(yùn)物體以完成在各個(gè)不同環(huán)境中工作。在工資水平較低的中國(guó)，塑料制品行業(yè)盡管仍屬于勞動(dòng)力密集型，機(jī)械手的使用已經(jīng)越來越普及。那些電子和汽車業(yè)的歐美跨國(guó)公司很早就在它們?cè)O(shè)在中國(guó)的工廠中引進(jìn)了自動(dòng)化生產(chǎn)。但現(xiàn)在的變化是那些分布在工業(yè)密集的華南、華東沿海地區(qū)的中國(guó)本土塑料加工廠也開始對(duì)機(jī)械手表現(xiàn)出越來越濃厚的興趣，因?yàn)樗麄円鎸?duì)工人流失率高，以及為工人交工傷費(fèi)帶來的挑戰(zhàn)。

隨著我國(guó)工業(yè)生產(chǎn)的飛躍發(fā)展，特別是改革開發(fā)以后，自動(dòng)化程度的迅速提高，實(shí)現(xiàn)工件的裝卸、轉(zhuǎn)向、輸送或操作釬焊、噴槍、扳手等工具進(jìn)行加工、裝配等作業(yè)自化，已愈來愈引起我們重視。

機(jī)械手是模仿著人手的部分動(dòng)作，按給定的程序、軌跡和要求實(shí)現(xiàn)自動(dòng)抓取、搬運(yùn)或操作的自動(dòng)機(jī)械裝置。

在現(xiàn)實(shí)生活中，你是否會(huì)發(fā)現(xiàn)這樣一個(gè)問題。在機(jī)械工廠里，加工零件裝料的時(shí)候是不是很煩的，勞動(dòng)生產(chǎn)率不高，生產(chǎn)成本大，有時(shí)候還會(huì)發(fā)生一些人為

事故，導(dǎo)致加工者受傷。想想看用什么可以來代替呢，加工的時(shí)候只要有幾個(gè)人巡視一下，且可以二十四個(gè)小時(shí)飽和運(yùn)作，人行嗎？回答是肯定的，但是機(jī)械手可以來代替它。

生產(chǎn)中應(yīng)用機(jī)械手可以提高生產(chǎn)的自動(dòng)化水平和勞動(dòng)生產(chǎn)率;可以減輕勞動(dòng)強(qiáng)度、保證產(chǎn)品質(zhì)量、實(shí)現(xiàn)安全生產(chǎn)；尤其是在高溫、高壓、低溫、低壓、粉塵、易爆、有毒氣體和放射性等惡劣的環(huán)境中能夠代替人進(jìn)行正常的工作。想到這里我就很想設(shè)計(jì)一個(gè)機(jī)械手，來用于生產(chǎn)實(shí)際中。

為什么選著設(shè)計(jì)機(jī)械手用氣動(dòng)來提供動(dòng)力：氣動(dòng)機(jī)械手是指以壓縮空氣為動(dòng)力源驅(qū)動(dòng)的機(jī)械手。用氣壓驅(qū)動(dòng)與其他能源驅(qū)動(dòng)比較有以下優(yōu)點(diǎn)：1.空氣取之不竭，用過之后排入大氣，不需要回收和處理，不污染環(huán)境。（環(huán)保的概念）2.空氣的沾性很小，管路中壓力損失也很?。ㄒ话銡饴纷枇p失不到油路的千分之一），便于遠(yuǎn)距離輸送。3.壓縮空氣的工作壓力較低(一般為4～8公斤/每平方厘米)，因此對(duì)動(dòng)元件的材質(zhì)和制造精度要求可以降低。4.與液壓傳動(dòng)相比，它的動(dòng)作和反應(yīng)都快，這是氣動(dòng)突出的優(yōu)點(diǎn)之一。5.空氣介質(zhì)清潔，亦不會(huì)變質(zhì)，管路不易堵塞。但是也有它美中不足的地方：1.由于空氣的可壓縮性，致使氣動(dòng)工作的穩(wěn)定性差，因而造成執(zhí)行機(jī)構(gòu)運(yùn)動(dòng)速度和定為精度不易控制。2.由于使用氣壓較低，輸出力不可能太大，為了增加輸出力，必然使整個(gè)氣動(dòng)系統(tǒng)的結(jié)構(gòu)尺寸加大。

用氣壓驅(qū)動(dòng)與用其他能源驅(qū)動(dòng)比較有以下優(yōu)點(diǎn)：

空氣取之不竭，用過之后排入大氣，不需回收和處理，不污染環(huán)境。偶然的或少量的泄漏不致對(duì)生產(chǎn)發(fā)生嚴(yán)重的影響。

空氣的粘性很小，管路中壓力損失也就很小，便于遠(yuǎn)距離輸送。

壓縮空氣的工作壓力較低，因此對(duì)氣動(dòng)元件的材質(zhì)和制造精度要求可以降低。一般說來，往復(fù)運(yùn)動(dòng)推力在1~2噸以下采用氣動(dòng)經(jīng)濟(jì)性較好。

與液壓傳動(dòng)相比，它的動(dòng)作和反應(yīng)都快，這是氣動(dòng)的突出優(yōu)點(diǎn)之一?？諝饨橘|(zhì)清潔，亦不會(huì)變質(zhì)，管路不易堵塞。

它可安全地應(yīng)用在易燃、易爆和粉塵大的場(chǎng)合。又便于實(shí)現(xiàn)過載自動(dòng)保護(hù).二﹑機(jī)械手的組成

機(jī)械手的形式是多種多樣的，有的較為簡(jiǎn)單，有的較為復(fù)雜，但基本的組成

形式是相同的，一般由執(zhí)行機(jī)構(gòu)、傳動(dòng)系統(tǒng)、控制系統(tǒng)和輔助裝置組成。

1.執(zhí)行機(jī)構(gòu)

機(jī)械手的執(zhí)行機(jī)構(gòu)，由手、手腕、手臂、支柱組成。手是抓取機(jī)構(gòu)，用來夾緊和松開工件，與人的手指相仿，能完成人手的類似動(dòng)作。手腕是連接手指與手臂的元件，可以進(jìn)行上下、左右和回轉(zhuǎn)動(dòng)作。簡(jiǎn)單的機(jī)械手可以沒有手腕。支柱用來支撐手臂，也可以根據(jù)需要做成移動(dòng)。

2.傳動(dòng)系統(tǒng)

執(zhí)行機(jī)構(gòu)的動(dòng)作要由傳動(dòng)系統(tǒng)來實(shí)現(xiàn)。常用機(jī)械手傳動(dòng)系統(tǒng)分機(jī)械傳動(dòng)、液壓傳動(dòng)、氣壓傳動(dòng)和電力傳動(dòng)等幾種形式。

3.控制系統(tǒng)

機(jī)械手控制系統(tǒng)的主要作用是控制機(jī)械手按一定的程序、方向、位置、速度進(jìn)行動(dòng)作，簡(jiǎn)單的機(jī)械手一般不設(shè)置專用的控制系統(tǒng)，只采用行程開關(guān)、繼電器、控制閥及電路便可實(shí)現(xiàn)動(dòng)傳動(dòng)系統(tǒng)的控制，使執(zhí)行機(jī)構(gòu)按要求進(jìn)行動(dòng)作．動(dòng)作復(fù)雜的機(jī)械手則要采用可編程控制器、微型計(jì)算機(jī)進(jìn)行控制。三﹑ 機(jī)械手的分類和特點(diǎn)

機(jī)械手一般分為三類：第一類是不需要人工操作的通用機(jī)械手。它是一種獨(dú)立的不附屬于某一主機(jī)的裝置。它可以根據(jù)任務(wù)的需要編制程序，以完成各項(xiàng)規(guī)定的操作。它的特點(diǎn)是具備普通機(jī)械的性能之外，還具備通用機(jī)械、記憶智能的三元機(jī)械。第二類是需要人工才做的，稱為操作機(jī)。它起源于原子、軍事工業(yè)，先是通過操作機(jī)來完成特定的作業(yè)，后來發(fā)展到用無線電訊號(hào)操作機(jī)來進(jìn)行探測(cè)月球等。工業(yè)中采用的鍛造操作機(jī)也屬于這一范疇。第三類是用專用機(jī)械手，主要附屬于自動(dòng)機(jī)床或自動(dòng)線上，用以解決機(jī)床上下料和工件送。這種機(jī)械手在國(guó)外稱為“Mechanical Hand”，它是為主機(jī)服務(wù)的，由主機(jī)驅(qū)動(dòng)；除少數(shù)以外，工作程序一般是固定的，因此是專用的。

主要特點(diǎn)：

(1)機(jī)械手（上下料機(jī)械手、裝配機(jī)械手、搬運(yùn)機(jī)械手、堆垛機(jī)械手、助力機(jī)械手、真空搬運(yùn)機(jī)、真空吸吊機(jī)、省力吊具、氣動(dòng)平衡器等）。

(2)懸臂起重機(jī)（懸臂吊、電動(dòng)環(huán)鏈葫蘆吊、氣動(dòng)平衡吊等）

(3)導(dǎo)軌式搬運(yùn)系統(tǒng)（懸掛軌道、輕型軌道、單梁起重機(jī)、雙梁起重機(jī)）

(4)工業(yè)機(jī)械手的應(yīng)用

機(jī)械手是在機(jī)械化、自動(dòng)化生產(chǎn)過程中發(fā)展起來的一種新型裝置。近年來，隨著電子技術(shù)特別是電子計(jì)算機(jī)的廣泛應(yīng)用，機(jī)器人的研制和生產(chǎn)已成為高技術(shù)領(lǐng)域內(nèi)迅速發(fā)展起來的一門新興技術(shù)，它更加促進(jìn)了機(jī)械手的發(fā)展，使得機(jī)械手能更好地實(shí)現(xiàn)與機(jī)械化和自動(dòng)化的有機(jī)結(jié)合。

機(jī)械手雖然目前還不如人手那樣靈活，但它具有能不斷重復(fù)工作和勞動(dòng)、不知疲勞、不怕危險(xiǎn)、抓舉重物的力量比人手大等特點(diǎn)，因此，機(jī)械手已受到許多部門的重視，并越來越廣泛地得到了應(yīng)用，例如：

(1)機(jī)床加工工件的裝卸，特別是在自動(dòng)化車床、組合機(jī)床上使用較為普遍。(2)在裝配作業(yè)中應(yīng)用廣泛，在電子行業(yè)中它可以用來裝配印制電路板，在機(jī)械行業(yè)中它可以用來組裝零部件。

(3)可在勞動(dòng)條件差，單調(diào)重復(fù)易子疲勞的工作環(huán)境工作，以代替人的勞動(dòng)。(4)可在危險(xiǎn)場(chǎng)合下工作，如軍工品的裝卸、危險(xiǎn)品及有害物的搬運(yùn)等。(5)宇宙及海洋的開發(fā)。

(6)軍事工程及生物醫(yī)學(xué)方面的研究和試驗(yàn)。

助力機(jī)械手:又稱平衡器、平衡吊、省力吊具、手動(dòng)移載機(jī)等，是一種無重力化手動(dòng)承載系統(tǒng)，一種新穎的、用于物料搬運(yùn)時(shí)省力化操作的助力設(shè)備,屬于一種非標(biāo)設(shè)計(jì)的系列化產(chǎn)品。針對(duì)客戶應(yīng)用需求，量身定制的個(gè)案創(chuàng)作。

一種模擬人手操作的自動(dòng)機(jī)械，它可按固定程序抓取﹑搬運(yùn)物件或操持工具完成某些特定操作。應(yīng)用機(jī)械手可以代替人從事單調(diào)﹑重復(fù)或繁重的體力勞動(dòng)，實(shí)現(xiàn)生產(chǎn)的機(jī)械化和自動(dòng)化，代替人在有害環(huán)境下的手工操作，改善勞動(dòng)條件，保證人身安全。20世紀(jì)40年代后期，美國(guó)在原子能實(shí)驗(yàn)中，首先采用機(jī)械手搬運(yùn)放射性材料，人在安全室操縱機(jī)械手進(jìn)行各種操作和實(shí)驗(yàn)。50年代以后，機(jī)械手逐步推廣到工業(yè)生產(chǎn)部門，用于在高溫﹑污染嚴(yán)重的地方取放工件和裝卸材料，也作為機(jī)床的輔助裝置在自動(dòng)機(jī)床﹑自動(dòng)生產(chǎn)線和加工中心中應(yīng)用，完成上下料或從刀庫(kù)中取放刀具并按固定程序更換刀具等操作。機(jī)械手主要由手部機(jī)構(gòu)和運(yùn)動(dòng)機(jī)構(gòu)組成。手部機(jī)構(gòu)隨使用場(chǎng)合和操作對(duì)象而不同，常見的有夾持﹑托持和吸附等類型。運(yùn)動(dòng)機(jī)構(gòu)一般由液壓﹑氣動(dòng)﹑電氣裝置驅(qū)動(dòng)。機(jī)械手可獨(dú)立地實(shí)現(xiàn)伸縮﹑旋轉(zhuǎn)和昇降等運(yùn)動(dòng)，一般有2～3個(gè)自由度。機(jī)械手廣泛用于機(jī)械製造

﹑冶金﹑輕工和原子能等部門。

能模仿人手和臂的某些動(dòng)作功能，用以按固定程序抓取、搬運(yùn)物件或操作工具的自動(dòng)操作裝置。它可代替人的繁重勞動(dòng)以實(shí)現(xiàn)生產(chǎn)的機(jī)械化和自動(dòng)化，能在有害環(huán)境下操作以保護(hù)人身安全，因而廣泛應(yīng)用于機(jī)械制造、冶金、電子、輕工和原子能等部門。機(jī)械手通常用作機(jī)床或其他機(jī)器的附加裝置，如在自動(dòng)機(jī)床或自動(dòng)生產(chǎn)線上裝卸和傳遞工件，在加工中心中更換刀具等，一般沒有獨(dú)立的控制裝置。有些操作裝置需要由人直接操縱，如用于原子能部門操持危險(xiǎn)物品的主從式操作手也常稱為機(jī)械手。

機(jī)械手主要由手部和運(yùn)動(dòng)機(jī)構(gòu)組成。手部是用來抓持工件（或工具）的部件，根據(jù)被抓持物件的形狀、尺寸、重量、材料和作業(yè)要求而有多種結(jié)構(gòu)形式，如夾持型、托持型和吸附型等。運(yùn)動(dòng)機(jī)構(gòu)，使手部完成各種轉(zhuǎn)動(dòng)（擺動(dòng)）、移動(dòng)或復(fù)合運(yùn)動(dòng)來實(shí)現(xiàn)規(guī)定的動(dòng)作，改變被抓持物件的位置和姿勢(shì)......機(jī)械手是在自動(dòng)化生產(chǎn)過程中使用的一種具有抓取和移動(dòng)工件功能的自動(dòng)化裝置，它是在機(jī)械化、自動(dòng)化生產(chǎn)過程中發(fā)展起來的一種新型裝置。近年來，隨著電子技術(shù)特別是電子計(jì)算機(jī)的廣泛應(yīng)用，機(jī)器人的研制和生產(chǎn)已成為高技術(shù)領(lǐng)域內(nèi)迅速發(fā)展起來的一門新興技術(shù)，它更加促進(jìn)了機(jī)械手的發(fā)展，使得機(jī)械手能更好地實(shí)現(xiàn)與機(jī)械化和自動(dòng)化的有機(jī)結(jié)合。機(jī)械手能代替人類完成危險(xiǎn)、重復(fù)枯燥的工作，減輕人類勞動(dòng)強(qiáng)度，提高勞動(dòng)生產(chǎn)力。機(jī)械手越來越廣泛的得到了應(yīng)用，在機(jī)械行業(yè)中它可用于零部件組裝，加工工件的搬運(yùn)、裝卸，特別是在自動(dòng)化數(shù)控機(jī)床、組合機(jī)床上使用更普遍。目前，機(jī)械手已發(fā)展成為柔性制造系統(tǒng)FMS和柔性制造單元FMC中一個(gè)重要組成部分。把機(jī)床設(shè)備和機(jī)械手共同構(gòu)成一個(gè)柔性加工系統(tǒng)或柔性制造單元，它適應(yīng)于中、小批量生產(chǎn)，可以節(jié)省龐大的工件輸送裝置，結(jié)構(gòu)緊湊，而且適應(yīng)性很強(qiáng)。當(dāng)工件變更時(shí)，柔性生產(chǎn)系統(tǒng)很容易改變，有利于企業(yè)不斷更新適銷對(duì)路的品種，提高產(chǎn)品質(zhì)量，更好地適應(yīng)市場(chǎng)競(jìng)爭(zhēng)的需要。而目前我國(guó)的工業(yè)機(jī)器人技術(shù)及其工程應(yīng)用的水平和國(guó)外比還有一定的距離，應(yīng)用規(guī)模和產(chǎn)業(yè)化水平低，機(jī)械手的研究和開發(fā)直接影響到我國(guó)自動(dòng)化生產(chǎn)水平的提高，從經(jīng)濟(jì)上、技術(shù)上考慮都是十分必要的。因此，進(jìn)行機(jī)械手的研究設(shè)計(jì)是非常有意義的。

附件2：外文原文

Manipulator

Robot developed in recent decades as high-tech automated production equipment.Industrial robot is an important branch of industrial robots.It features can be programmed to perform tasks in a variety of expectations, in both structure and performance advantages of their own people and machines, in particular, reflects the people's intelligence and adaptability.The accuracy of robot operations and a variety of environments the ability to complete the work in the field of national economy and there are broad prospects for development.With the development of industrial automation, there has been CNC machining center, it is in reducing labor intensity, while greatly improved labor productivity.However, the upper and lower common in CNC machining processes material, usually still use manual or traditional relay-controlled semi-automatic device.The former time-consuming and labor intensive, inefficient;the latter due to design complexity, require more relays, wiring complexity, vulnerability to body vibration interference, while the existence of poor reliability, fault more maintenance problems and other issues.Programmable Logic Controller PLC-controlled robot control system for materials up and down movement is simple, circuit design is reasonable, with a strong anti-jamming capability, ensuring the system's reliability, reduced maintenance rate, and improve work efficiency.Robot technology related to mechanics, mechanics, electrical hydraulic technology, automatic control technology, sensor technology and computer technology and other fields of science, is a cross-disciplinary integrated technology.First, an overview of industrial manipulator Robot is a kind of positioning control can be automated and can be re-programmed to change in multi-functional machine, which has multiple

degrees of freedom can be used to carry an object in order to complete the work in different environments.Low wages in China, plastic products industry, although still a labor-intensive, mechanical hand use has become increasingly popular.Electronics and automotive industries that Europe and the United States multinational companies very early in their factories in China, the introduction of automated production.But now the changes are those found in industrial-intensive South China, East China's coastal areas, local plastic processing plants have also emerged in mechanical watches began to become increasingly interested in, because they have to face a high turnover rate of workers, as well as for the workers to pay work-related injuries fee challenges.With the rapid development of China's industrial production, especially the reform and opening up after the rapid increase in the degree of automation to achieve the workpiece handling, steering, transmission or operation of brazing, spray gun, wrenches and other tools for processing and assembly operations since, which has more and more attracted our attention.Robot is to imitate the manual part of the action, according to a given program, track and requirements for automatic capture, handling or operation of the automatic mechanical devices.In real life, you will find this a problem.In the machine shop, the processing of parts loading time is not annoying, and labor productivity is not high, the cost of production major, and sometimes man-made incidents will occur, resulting in processing were injured.Think about what could replace it with the processing time of a tour as long as there are a few people, and can operate 24 hours saturated human right? The answer is yes, but the robot can come to replace it.Production of mechanical hand can increase the automation level of production and labor productivity;can reduce labor intensity, ensuring

product quality, to achieve safe production;particularly in the high-temperature, high pressure, low temperature, low pressure, dust, explosive, toxic and radioactive gases such as poor environment can replace the normal working people.Here I would like to think of designing a robot to be used in actual production.Why would a robot designed to provide a pneumatic power: pneumatic robot refers to the compressed air as power source-driven robot.With pressure-driven and other energy-driven comparison have the following advantages: 1.Air inexhaustible, used later discharged into the atmosphere, does not require recycling and disposal, do not pollute the environment.(Concept of environmental protection)2.Air stick is small, the pipeline pressure loss is small(typically less than asphalt gas path pressure drop of one-thousandth), to facilitate long-distance transport.3.Compressed air of the working pressure is low(usually 4 to 8 kg / per square centimeter), and therefore moving the material components and manufacturing accuracy requirements can be lowered.4.With the hydraulic transmission, compared to its faster action and reaction, which is one of the advantages pneumatic outstanding.5.The air cleaner media, it will not degenerate, not easy to plug the pipeline.But there are also places where it fly in the ointment: 1.As the compressibility of air, resulting in poor aerodynamic stability of the work, resulting in the implementing agencies as the precision of the velocity and not easily controlled.2.As the use of low atmospheric pressure, the output power can not be too large;in order to increase the output power is bound to the structure of the entire pneumatic system size increased.With pneumatic drive and compare with other energy sources drive has the following advantages: Air inexhaustible, used later discharged into the atmosphere, without recycling and disposal, do not pollute the environment.Accidental or a

small amount of leakage would not be a serious impact on production.Viscosity of air is small, the pipeline pressure loss also is very small, easy long-distance transport.The lower working pressure of compressed air, pneumatic components and therefore the material and manufacturing accuracy requirements can be lowered.In general, reciprocating thrust in 1 to 2 tons pneumatic economy is better.Compared with the hydraulic transmission, and its faster action and reaction, which is one of the outstanding merits of pneumatic.Clean air medium, it will not degenerate, not easy to plug the pipeline.It can be safely used in flammable, explosive and the dust big occasions.Also easy to realize automatic overload protection.Second, the composition, mechanical hand

Robot in the form of a variety of forms, some relatively simple, some more complicated, but the basic form is the same as the composition of the , Usually by the implementing agencies, transmission systems, control systems and auxiliary devices composed.1.Implementing agencies Manipulator executing agency by the hands, wrists, arms, pillars.Hands are crawling institutions, is used to clamp and release the workpiece, and similar to human fingers, to complete the staffing of similar actions.Wrist and fingers and the arm connecting the components can be up and down, left, and rotary movement.A simple mechanical hand can not wrist.Pillars used to support the arm can also be made mobile as needed.2.Transmission The actuator to be achieved by the transmission system.Sub-transmission system commonly used manipulator mechanical transmission, hydraulic transmission, pneumatic and electric power transmission and other drive several forms.3.Control System Manipulator control system's main role is to control the robot according to certain procedures, direction, position, speed of action, a simple mechanical hand is generally not set up a dedicated control system, using only trip switches, relays, control valves and circuits can be achieved dynamic drive system control, so that implementing agencies according to the requirements of action.Action will have to use complex programmable robot controller, the micro-computer control.Three, mechanical hand classification and characteristics

Robots are generally divided into three categories: the first is the general machinery does not require manual hand.It is an independent not affiliated with a particular host device.It can be programmed according to the needs of the task to complete the operation of the provisions.It is characterized with ordinary mechanical performance, also has general machinery, memory, intelligence ternary machinery.The second category is the need to manually do it, called the operation of aircraft.It originated in the atom, military industry, first through the operation of machines to complete a particular job, and later developed to operate using radio signals to carry out detecting machines such as the Moon.Used in industrial manipulator also fall into this category.The third category is dedicated manipulator, the main subsidiary of the automatic machines or automatic lines, to solve the machine up and down the workpiece material and delivery.This mechanical hand in foreign countries known as the “Mechanical Hand”, which is the host of services, from the host-driven;exception of a few outside the working procedures are generally fixed, and therefore special.Main features: First, mechanical hand(the upper and lower material robot, assembly robot, handling robot, stacking robot, help robot, vacuum handling machines, vacuum suction crane, labor-saving spreader, pneumatic balancer, etc.).Second, cantilever cranes(cantilever crane, electric chain hoist crane, air balance the hanging, etc.)Third, rail-type transport system(hanging rail, light rail, single girder cranes, double-beam crane)Four, industrial machinery, application of hand Manipulator in the mechanization and automation of the production process developed a new type of device.In recent years, as electronic technology, especially computer extensive use of robot development and production of high-tech fields has become a rapidly developed a new technology, which further promoted the development of robot, allowing robot to better achieved with the combination of mechanization and automation.Although the robot is not as flexible as staff, but it has to the continuous duplication of work and labor, I do not know fatigue, not afraid of danger, the power snatch weight characteristics when compared with manual large, therefore, mechanical hand has been of great importance to many sectors, and increasingly has been applied widely, for example:(1)Machining the workpiece loading and unloading, especially in the automatic lathe, combination machine tool use is more common.(2)In the assembly operations are widely used in the electronics industry, it can be used to assemble printed circuit boards, in the machinery industry It can be used to assemble parts and components.(3)The working conditions may be poor, monotonous, repetitive easy to sub-fatigue working environment to replace human labor.(4)May be in dangerous situations, such as military goods handling，dangerous goods and hazardous materials removal and so on.(5)Universe and ocean development.(6), military engineering and biomedical research and testing.Help mechanical hands: also known as the balancer, balance suspended, labor-saving spreader, manual Transfer machine is a kind of weightlessness of manual load system, a novel, time-saving technology for material handling operations booster equipment, belonging to kinds of non-standard design of series products.Customer application needs, creating customized cases.Manual operation of a simulation of the automatic machinery, it can be a fixed program draws ﹑ handling objects or perform household tools to accomplish certain specific actions.Application of robot can replace the people engaged in monotonous ﹑ repetitive or heavy manual labor, the mechanization and automation of production, instead of people in hazardous environments manual operation, improving working conditions and ensure personal safety.The late 20th century, 40, the United States atomic energy experiments, the first use of radioactive material handling robot, human robot in a safe room to manipulate various operations and experimentation.50 years later, manipulator and gradually extended to industrial production sector, for the temperatures, polluted areas, and loading and unloading to take place the work piece material, but also as an auxiliary device in automatic machine tools, machine tools, automatic production lines and processing center applications, the completion of the upper and lower material, or From the library take place knife knife and so on according to fixed procedures for the replacement operation.Robot body mainly by the hand and sports institutions.Agencies with the use of hands and operation of objects of different occasions, often there are clamping ﹑ support and adsorption type of care.Movement organs are generally hydraulic pneumatic ﹑ ﹑ electrical device drivers.Manipulator can be achieved independently retractable ﹑ rotation and lifting movements, generally 2 to 3 degrees of freedom.Robots are widely used in metallurgical industry, machinery manufacture, light industry and atomic energy sectors.Can mimic some of the staff and arm motor function, a fixed procedure for the capture, handling objects or operating tools, automatic operation device.It can replace human labor in order to achieve the production of heavy mechanization and automation that can operate in hazardous environments to protect the personal safety, which is widely used in machinery manufacturing, metallurgy, electronics, light industry and nuclear power sectors.Mechanical hand tools or other equipment commonly used for additional devices, such as the automatic machines or automatic production line handling and transmission of the workpiece, the replacement of cutting tools in machining centers, etc.generally do not have a separate control device.Some operating devices require direct manipulation by humans;such as the atomic energy sector performs household hazardous materials used in the master-slave manipulator is also often referred to as mechanical hand.Manipulator mainly by hand and sports institutions.Task of hand is holding the workpiece(or tool)components, according to grasping objects by shape, size, weight, material and operational requirements of a variety of structural forms, such as clamp type, type and adsorption-based care such as holding.Sports organizations, so that the completion of a variety of hand rotation(swing), mobile or compound movements to achieve the required action, to change the location of objects by grasping and posture.Robot is the automated production of a kind used in the process of crawling and moving piece features automatic device, which is mechanized and automated production process developed a new type of device.In recent

years, as electronic technology, especially computer extensive use of robot development and production of high-tech fields has become a rapidly developed a new technology, which further promoted the development of robot, allowing robot to better achieved with the combination of mechanization and automation.Robot can replace humans completed the risk of duplication of boring work, to reduce human labor intensity and improve labor productivity.Manipulator has been applied more and more widely, in the machinery industry, it can be used for parts assembly, work piece handling, loading and unloading, particularly in the automation of CNC machine tools, modular machine tools more commonly used.At present, the robot has developed into a FMS flexible manufacturing systems and flexible manufacturing cell in an important component of the FMC.The machine tool equipment and machinery in hand together constitute a flexible manufacturing system or a flexible manufacturing cell, it was adapted to small and medium volume production, you can save a huge amount of the work piece conveyor device, compact, and adaptable.When the work piece changes, flexible production system is very easy to change will help enterprises to continuously update the marketable variety, improve product quality, and better adapt to market competition.At present, China's industrial robot technology and its engineering application level and comparable to foreign countries there is a certain distance, application and industrialization of the size of the low level of robot research and development of a direct impact on raising the level of automation in China, from the economy, technical considerations are very necessary.Therefore, the study of mechanical hand design is very meaningful.

第五篇：1300外文文獻(xiàn)翻譯

Agricultural Land and Regulation in the Transition Economy of Russia Ekaterina Gnedenko1 & Michael Kazmin2 Published online: 7 July 2015 # International Atlantic Economic Society 2015 JEL Classification C10.L33.O57.Q00 This research note explores the link between farmland conversion and existing land regulation in Russia.We conclude that land regulation is lagging the new market trends in the transition economy of Russia.As market forces continue to penetrate the economy, apparent managerial and statutory problems with regard to local land-use planning and regulation preclude more effective use of land.Responding to the need for attracting investment in agriculture, the Russian Ministry of Science and Education provided funds for our research project that involves primary data collection and econometric analysis of the interdependencies between governmental policies and farmland loss.Our unique dataset contains socioeconomic, demographic and spatial geographic 2010 data for 39 municipal districts in the Moscow metropolitan region.The econometric analysis of this data set is used to explore the relationship among farmland quantity, its assessed value, the share of privatized farmland, farmland tax,and land-use zoning in the simultaneous equations framework.While the Russian market for real estate has developed quickly, the market for agricultural land is still thin.Farmland deals are limited, partly because of the lingering uncertainty about farmland property rights.The state-owned farmland is still significant.Our Moscow regional data suggest a strong positive relationship between the fraction of privatized farmland and farmland acreage, although the fraction of individually and collectively privatized farmland is only 57 %.The direct sale of farmland to foreigners is prohibited decreasing potential foreign investment as well.As a result, the area occupied by agricultural lands has been steadily decreasing and deteriorating in quality.During the period 1990 to 2005, tillable lands in Russia have shrunk by 10.5 million hectares(7.9 % of tillable lands).Lacking experience and adequate knowledge, local governments are stuck with the land conservation policies available to the former USSR.In particular, in an attempt to contain the loss of prime farmland, the regulators retain old land-use zoning laws prohibiting the change of land status.However, strong development pressures and widespread corruption often annihilate the desirable effect of zoning.The results of our econometric analysis indicate that the proximity to Moscow city and population growth both have a significant negative effect on the amount of farmland, even in the strictlyzoned-for agriculture districts, suggesting strong urban pressure in the capital region of Moscow.The estimated elasticity of farmland acreage with respect to population growth is ?0.3.A corrupt practice of illegal changes in land status is reflected in the fact that the lands still classified as farmland in the Federal Register of Land are turned into residential or industrial areas.This signals a management problem which could be perhaps resolved by the introduction of more flexible zoning and an increase in the range of responsibilities of local governments and their property rights to land.The other economic instrument indispensable in land policy, land assessment, is also based on the former practices of the Communist period following a federally mandated general formula that takes into account soil productivity criteria, topographic features of the landscape, and the presence of irrigation, but still has little in common with the market price of farmland.When the agricultural land tax is calculated as the percentage of the assessed value of farmland, which is often below its real market value, local authorities are not interested in developing local agricultural infrastructure or increasing agricultural land base because they will not be able to reap any significant tax benefits from it.Coupled with the low federally mandated upper limits on tax rates(0.3 % of the assessed value of agricultural and residential lands)this leads to insufficient local tax revenues and overreliance on intergovernmental transfers.According to our data for the Moscow region, although localities tend to impose the maximum allowable tax rate, the average share of land tax revenues in local budgets is a mere 5 %.It is not surprising as the average assessed value of farmland across municipalities is 1000 times less than the ongoing average sales price, according to data we collected.The insignificant local land tax revenues caused by the underestimated land value lead to insufficient local infrastructure investment, which further suppresses the value of farmland and hastens its conversion.The results of the econometric analysis indicate lack of statistical significance between the assessed value of farmland and farmland quantity in the Moscow region, making the farmland tax rate an ineffective instrument in land policy.This missing link between the farmland quantity and existing land policies may render these policies not just ineffective but even wasteful.Innovative approaches such as the retention of development rights by the government might represent a temporary solution.The increasing reliance on local governance in solvinglocal problems would imply improved land-use and public finance planning and,perhaps, a slower farmland conversion trend.俄羅斯經(jīng)濟(jì)轉(zhuǎn)型中的農(nóng)業(yè)用地與監(jiān)管

Ekaterina Gnedenko1 & Michael Kazmin2。在線出版:2015年7月7日。國(guó)際大西洋經(jīng)濟(jì)學(xué)會(huì)2015。凍膠分類C10。L33。O57。Q00 本研究報(bào)告探討了俄羅斯農(nóng)地轉(zhuǎn)換與現(xiàn)有土地規(guī)制之間的關(guān)系。我們的結(jié)論是，土地監(jiān)管滯后于俄羅斯轉(zhuǎn)型經(jīng)濟(jì)的新市場(chǎng)趨勢(shì)。由于市場(chǎng)力量繼續(xù)滲透經(jīng)濟(jì)，在地方土地利用規(guī)劃和管理方面顯然存在管理和法律問題，妨礙了更有效地利用土地。為了應(yīng)對(duì)吸引農(nóng)業(yè)投資的需要，俄羅斯科學(xué)和教育部為我們的研究項(xiàng)目提供了資金，該項(xiàng)目涉及對(duì)政府政策和農(nóng)田損失之間相互依賴關(guān)系的主要數(shù)據(jù)收集和計(jì)量分析。我們獨(dú)特的數(shù)據(jù)集包含社會(huì)經(jīng)濟(jì)、人口和空間。2010年莫斯科都市地區(qū)39個(gè)市轄區(qū)的地理數(shù)據(jù)。通過對(duì)該數(shù)據(jù)集的計(jì)量分析，探討了在聯(lián)立方程框架下，耕地?cái)?shù)量、其評(píng)估值、私有化耕地占比、農(nóng)地稅和土地利用區(qū)劃之間的關(guān)系。

雖然俄羅斯房地產(chǎn)市場(chǎng)發(fā)展迅速，但農(nóng)業(yè)用地市場(chǎng)仍很薄弱。農(nóng)田交易是有限的，部分原因是土地產(chǎn)權(quán)的不確定性揮之不去。國(guó)有農(nóng)田仍然很重要。我們的莫斯科地區(qū)數(shù)據(jù)顯示，私有化耕地和耕地面積的比例之間存在著強(qiáng)烈的正相關(guān)關(guān)系，盡管單獨(dú)和集體私有化耕地的比例僅為57%。禁止向外國(guó)人直接出售農(nóng)田，也禁止減少潛在的外國(guó)投資。因此，農(nóng)地占用的面積一直在穩(wěn)步下降，質(zhì)量也在不斷惡化。在1990年至2005年期間，俄羅斯的可耕種土地減少了1050萬公頃(占耕地面積的7.9%)。

由于缺乏經(jīng)驗(yàn)和足夠的知識(shí)，地方政府只能依靠前蘇聯(lián)提供的土地保護(hù)政策。特別是，為了遏制主要農(nóng)田的流失，監(jiān)管機(jī)構(gòu)保留了禁止改變土地狀況的舊土地用途分區(qū)法。然而，強(qiáng)大的發(fā)展壓力和廣泛的腐敗往往會(huì)消滅分區(qū)制的理想效果。我們的計(jì)量分析結(jié)果表明，靠近莫斯科城市和人口增長(zhǎng)對(duì)農(nóng)田的數(shù)量有顯著的負(fù)面影響，即使是在嚴(yán)格的農(nóng)業(yè)地區(qū)，這表明莫斯科的首都地區(qū)的城市壓力很大。在人口增長(zhǎng)方面，耕地面積的估計(jì)彈性為0.3。非法改變土地狀況的一種腐敗做法，反映在土地仍然被歸為聯(lián)邦土地登記冊(cè)上的土地的土地被轉(zhuǎn)變?yōu)樽≌蚬I(yè)區(qū)的事實(shí)。這標(biāo)志著一個(gè)管理問題，也許可以通過引進(jìn)更靈活的分區(qū)和增加地方政府的責(zé)任范圍和土地的財(cái)產(chǎn)權(quán)來解決。

其他經(jīng)濟(jì)工具不可或缺的土地政策、土地評(píng)估,也是基于前實(shí)踐后共產(chǎn)主義時(shí)期的聯(lián)邦法律規(guī)定的一般公式,考慮土壤生產(chǎn)力標(biāo)準(zhǔn),地貌景觀的灌溉的存在,但仍然沒有與市場(chǎng)價(jià)格的農(nóng)田。農(nóng)業(yè)土地稅計(jì)算時(shí)的評(píng)估價(jià)值的百分比農(nóng)田,這通常是低于其實(shí)際市場(chǎng)價(jià)值,當(dāng)?shù)卣l(fā)展當(dāng)?shù)氐霓r(nóng)業(yè)基礎(chǔ)設(shè)施不感興趣或增加農(nóng)業(yè)用地基地,因?yàn)樗麄儗o法獲得任何重大稅收優(yōu)惠。再加上聯(lián)邦政府規(guī)定的低稅率(占農(nóng)業(yè)和居住用地評(píng)估價(jià)值的0.3%)，這將導(dǎo)致當(dāng)?shù)囟愂帐杖氩蛔悖⑦^度依賴政府間轉(zhuǎn)移。根據(jù)我們對(duì)莫斯科地區(qū)的數(shù)據(jù)，雖然地方傾向于征收最高允許的稅率，但地方預(yù)算的土地稅收收入的平均份額僅為5%。據(jù)我們收集的數(shù)據(jù)顯示，由于各城市的農(nóng)田平均分?jǐn)們r(jià)值比目前的平均銷售價(jià)格低1000倍，這并不令人驚訝。

由于土地價(jià)值被低估而導(dǎo)致的地方土地稅收不顯著，導(dǎo)致地方基礎(chǔ)設(shè)施投資不足，進(jìn)一步抑制了農(nóng)田價(jià)值，加快了土地流轉(zhuǎn)。經(jīng)濟(jì)計(jì)量分析結(jié)果表明，在莫斯科地區(qū)，耕地和耕地?cái)?shù)量的評(píng)估價(jià)值缺乏統(tǒng)計(jì)意義，使得農(nóng)地稅率在土地政策中是無效的。耕地?cái)?shù)量和現(xiàn)有土地政策之間缺失的聯(lián)系可能使這些政策不僅無效，甚至是浪費(fèi)。政府保留發(fā)展權(quán)利等創(chuàng)新辦法可能是一種臨時(shí)解決辦法。在解決地方問題上日益依賴地方治理，將意味著改善土地利用和公共財(cái)政規(guī)劃，也許還會(huì)減緩農(nóng)地轉(zhuǎn)換的趨勢(shì)。