畢業(yè)設(shè)計外文資料翻譯--人工和工業(yè)機(jī)器人重復(fù)操作定位精度比較-全文預(yù)覽
【正文】 標(biāo)稱位置， zyx , 表示實際位置和 SD的位置的偏差。測量 P1， P2， P3， P4 和 P5 的位置。多維數(shù)據(jù)集 8 與最大音量是在工作區(qū)中最常見的預(yù)期用途。同樣道理也可以用在機(jī)器人身上。提高這個比率的傳統(tǒng)原則是引入更輕的材料，創(chuàng)建一個新的結(jié)構(gòu)，設(shè)計新的執(zhí)行器。 關(guān)鍵詞 工業(yè)機(jī)器人，人為操作的重復(fù)性，標(biāo)準(zhǔn)，測量，支撐戰(zhàn)略 1 介紹 現(xiàn)代機(jī)器人中代替操作人員執(zhí)行裝配任務(wù)的機(jī)械手通常是按照人類的胳膊和手來設(shè)計的。運動分 析系統(tǒng)完成了非接觸式重復(fù)定位精度測量的測試 。支撐的使用提高了機(jī)器人的上述性能。 , V. ParentiCastelli(Eds.), Recent Advances in Robot Kinematics, Kluwer Academic Publishers, Dordrecht, 1996, pp. 307316. 7 計算機(jī)在生物學(xué)和醫(yī)學(xué)的應(yīng)用 28（ 1998） 415421 人工和工業(yè)機(jī)器人重復(fù)操作定位精度比較 Jure Zupancic*, Tadej Bajd 盧布爾雅那大學(xué)電氣工程學(xué)院， Trz207。 , Enhancing robot mechanism performances by using mechanical support: kinematic analysis, in:Proceedings of the 3rd International Workshop on Advances in Robot Kinematics, Ferrara, Italy, 1992, . [5] W. Book, S. Le, V. Sangveraphunsiri, Bracing strategy for robot operation, in: Proceedings of the Symposium on the Theory and Practice of Robots and Manipulators, Udine, 1984, pp. 179185. 6 [6] Manipulating industrial robots: performance criteria and related test methods, ISO 9283, International Organization for Standardization, 1988. [7] J. Zupanc207。 ic207。s performances concerning positional repeatability. ISO 9283 standard for ma nipulating industrial robot performance criteria and related test methods was the basis for the parative study. The testing equipment was built around the contactless 3D motion analysis system OPTOTRAK174。s forearm. The four measuring situations are shown in . 3 Testing and results Asea Irb 6 industrial manipulating robot was tested in our experiments. Additional segment was attached to the robot enabling bracing against the support body. For the case (1) () the weight of additional segment was kg, while in the case (2) () it was kg. The difference was due to the construction details of a bracing segment. The weight of the measuring rigid body held by human operator was kg. Three persons were tested. 5% of the total human operator39。 Standards。s position repeatability when using bracing. 169。 畢業(yè)設(shè)計外文資料翻譯 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)械工程及自動化 班 級 學(xué) 生 學(xué) 號 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。 motion analysis system. The results of tests demonstrate considerable improvement of robot and human operator39。 Repeatability。/3010 motion analysis system was used for measuring of the actual positions (see Fig. 2). Measurements were taken at the poses P1, P2, P3, P4 and P5. The position repeatability expresses the closeness of the attained positions after 30 repeated visits to the same manded position, as required by the ISO 9283 standard. The repeatability is calculated b
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