畢業(yè)設(shè)計(jì)外文資料翻譯--人工和工業(yè)機(jī)器人重復(fù)操作定位精度比較(已修改)
2025-05-31 23:12 本頁面
【正文】 畢業(yè)設(shè)計(jì)外文資料翻譯 題 目 人工和工業(yè)機(jī)器人重復(fù)操作定位 學(xué) 院 機(jī)械工程學(xué)院 專 業(yè) 機(jī)械工程及自動(dòng)化 班 級(jí) 學(xué) 生 學(xué) 號(hào) 指導(dǎo)教師 二〇一四 年 三 月 三十 日 Computers in Biology and Medicine 28 (1998) 415421 Comparison of position repeatability of a human operator and an industrial manipulating robot Jure Zupancic*, Tadej Bajd Faculty of Electrical Engineering, University of Ljubljana, Trz207。as207。ka 25, SI1000 Ljubljana, Slovenia Received 8 December 1997 Abstract Robot performance criteria of position repeatability are studied. Weighttopayload ratio is in manipulating robots significantly higher than in human operators. Bracing strategy improving the robot performances is introduced in the paper. The strategy copies human behavior during fine motion operations. A parison is made between the robot and the human operator performing approximately the same manipulating task. Contactless measurements of position repeatability were acplished with the OPTOTRAK174。 motion analysis system. The results of tests demonstrate considerable improvement of robot and human operator39。s position repeatability when using bracing. 169。1998 Elsevier Science Ltd. All rights reserved. Keywords: Industrial robot。 Human operator。 Repeatability。 Standards。 Measurements。 Bracing strategy 1 Introduction Modern robot manipulators replacing human operator in assembly tasks [1] are usually designed in accordance with the principles encountered in humans and their arms and main goal of developing a mechanical counterpart to human operator is achieving of improved performances such as speed, payload capacity, position accuracy and , when the loads are not exceeding 3 kilograms, weighttopayload ratio found in robots is reported to be ten times higher than the same ratio assessed in human operator [2].The reduction of this ratio is highly related to overall robot efficiency from technical and economical point of view. Traditional principles for improving this ratio are introducing lighter materials [3], new construction solutions and design of new actuators. In a special case, it is possible to increase the robot absolute accuracy and repeatability by using appropriate bracing [4]. The method of bracing [5] is a direct copy of human behavior where the adaptation to higher accuracy and repeatability requirements during the fine motion operation is required. A human operator, when performing precise manipulation tasks, often finds supports for his forearm, wrist or elbow like in many working situations watchmakers are practicing. The same simple idea can be transferred 1 into robotics. Apart from some estimations, there was no explicit parison made between human operator and adequate robot performances. The aim of this investigation was to make concise technical parison of robot and human operator performance with and wit
畢業(yè)設(shè)計(jì)相關(guān)推薦
鄂ICP備17016276號(hào)-1