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(存儲(chǔ)版)
【正文】 8 與最大音量是在工作區(qū)中最常見(jiàn)的預(yù)期用途。 ,1)(12?????nDDSnj jD (4) 9 其中 xj, yj, zj表示標(biāo)稱(chēng)位置， zyx , 表示實(shí)際位置和 SD的位置的偏差。在（ 4）中用一個(gè)水平棒支撐操作員的前臂。假定人 體體重的 5%為手臂的重量。按照 ISO 9283 的標(biāo)準(zhǔn)對(duì)工業(yè)機(jī)器人進(jìn)行了重復(fù)性測(cè)量。操作人員在進(jìn)行精準(zhǔn)的操作任務(wù)時(shí)經(jīng)常會(huì)為他的前臂、手腕處或肘關(guān)節(jié)做一些支撐，就像是鐘表匠工作時(shí)那樣。有支撐的機(jī)器人的重復(fù)定位精度比自由機(jī)器人高出了約 50%。ar 對(duì)上述測(cè)量作出的貢獻(xiàn)。 , A. KRALJ, Modeling of a braced robot with fourbar mechanism, in: J. LENARC207。 , 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] Manipulating industrial robots: performance criteria and related test methods, ISO 9283, International Organization for Standardization, 1988. [7] J. ZUPANC207。感謝 Dana Maurovic207。位置重復(fù)性實(shí)驗(yàn)是由機(jī)器人 Asea Irb 6 和操作人員在相同的實(shí)驗(yàn)條件下完成的相同的試驗(yàn)任務(wù)。完全復(fù)制人類(lèi)的結(jié)構(gòu)通常并不能得到讓人得到滿(mǎn)意的結(jié)果，因此最大額定負(fù)載低于 3 千克的現(xiàn)代機(jī)械手要遜色于人工操作。 11 4 結(jié)論 對(duì)機(jī)器人應(yīng)用支撐是對(duì)人類(lèi)行為的模仿。人工操作員的持有測(cè)量剛體的重量是 公斤。為操作員和機(jī)器人準(zhǔn)備相同大小的操作空間?？芍貜?fù)性由以下的公式計(jì)算： ,3 DSDr ?? (1) ,1 1??? nj jDnD (2) ,)()()( 222 zzyyxxD jjjj ?????? (3) 圖 1 在機(jī)器人工作區(qū)內(nèi)定義測(cè)量點(diǎn)（ P1P5）。這次研究的目的是為了是機(jī)器人和人工 操作者在有支撐和沒(méi)有支撐的條件下作一個(gè)操作技術(shù)的比較。然而，當(dāng)負(fù)載不超過(guò) 3 公斤時(shí)，經(jīng)評(píng)估發(fā)現(xiàn)機(jī)器人的重量 — 有效載荷比是人類(lèi)在相同操作情況下的 10 倍以上。將機(jī)器人和操作人員在相同的條件下操作做一次比較。 , A. Kralj, Modeling of a braced robot with fourbar mechanism, in: J. Lenarc207。 and Ivan Lonc207。 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 roboti
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