【正文】 飛行員向反方向移動控制閥，允許油液進(jìn)入液壓缸的另一腔，便收回起落架。只有液壓系統(tǒng)能提供不隨速度變化而變化的恒力或恒扭矩，他可以驅(qū)動對象從每小時(shí)移動幾英寸到每分鐘幾百英寸，從每小時(shí)幾轉(zhuǎn)到每分鐘幾千轉(zhuǎn)。這使得系統(tǒng)結(jié)構(gòu)緊湊，安全可靠。因?yàn)檗D(zhuǎn)向部件是全液壓的，沒有方向節(jié)、軸承、減速齒輪等機(jī)械連接，使得系統(tǒng)簡單緊湊。液壓系統(tǒng)的其他優(yōu)點(diǎn)包括雙向運(yùn)動、過載保護(hù)和無級變速控制，在已有的任何動力、系統(tǒng)中液壓系統(tǒng)也具有最大的單位質(zhì)量功率比。液壓系統(tǒng)也有缺點(diǎn)，液壓油有污染，并且泄露不可能完全避免，另外如果油液滲漏發(fā)生在灼熱設(shè)備附近，大多數(shù)液壓油能引起火災(zāi)。在氣壓系統(tǒng)中，壓縮機(jī)用來壓縮并提供所需的空氣。壓縮機(jī)基本上是根據(jù)理想氣體法則，通過減小氣體體積來增加氣體壓力的。用這種方法，壓力氣體可以總氣體源輸送到整個(gè)工廠的各個(gè)角落，壓力氣體可通過空氣濾清器除去污物，這些污染可能會損壞氣動組件的精密配合部件如閥和汽缸等，隨后輸送到各個(gè)回路中，接著空氣流經(jīng)減壓閥以減小氣壓值適合某一回路使用。由于來自大氣中的空氣含不同數(shù)量的水分，這些水分是有害的，它可以帶走潤滑劑引起的過分磨損和腐蝕，因此，在一些使用場合中，要用空氣干燥器來除去這些有還的水分。用氣動系統(tǒng)代替液壓系統(tǒng)有以下幾條理由：液體的慣性遠(yuǎn)比氣體大，因此，在液壓系統(tǒng)中，當(dāng)執(zhí)行組件加速減速和閥突然開啟關(guān)閉時(shí)，油液的質(zhì)量更是一個(gè)潛在的問題，根據(jù)牛頓運(yùn)動定律，產(chǎn)生加速度運(yùn)動油液所需的力要比加速同等體積空氣所需的力高出許多倍。氣壓系統(tǒng)使用可以直接排到周圍環(huán)境中的空氣，一般來說氣壓系統(tǒng)沒有液體系統(tǒng)昂貴。氣壓系統(tǒng)由于壓縮機(jī)局限，其系統(tǒng)壓力相當(dāng)?shù)停ǖ陀?50psi），而液壓力可達(dá)1000psi之高，因此液壓系統(tǒng)可以是大功率系統(tǒng)，而氣動系統(tǒng)僅用于小功率系統(tǒng)，典型例子有沖壓、鉆孔、夾緊、組裝、鉚接、材料處理和邏輯控制操作等。The step motor can receive digital signal directly and has the ability to response outer environment immediately and has no accumulation error, which often is used in driving this driving system, openloop control system is posed of stepping motor, which can satisfy the demand not only for control precision but also for the target of economic and this basis, the analysis of stepping motor in power calculating and style selecting is also analysis of kinematics and dynamics for object holding manipulator is given in pleting the design of mechanical structure and drive analysis is the basis of path programming and track positive and reverse analysis of manipulator gives the relationship between manipulator space and drive space in position and relationship between manipulator’s tip position and arthrosis angles is concluded by coordinate transform geometry method is used in solving inverse kinematics problem and the result will provide theory evidence for control f0unction of dynamics is to get the relationship between the movement and force and the target is to satisfy the demand of real time this chamfer, NewtonEuripides method is used in analysis dynamic problem of the cleaning robot and the arthrosis force and torque are given which provide the foundation for step motor selecting and structure dynamic optimal system is the key and core part of the object holding manipulator system design which will direct effect the reliability and practicality of the robot system in the division of configuration and control function and also will effect or limit the development cost and the demand of the PCL839 card, the PC puter which has structure and is easy to be extended is used as the principal puter cell and takes the function of system initialization, data operation and dispose, step motor drive and error diagnose and so t the same time, the configuration structure features, task principles and the position function with high precision of the control card PCL839 are is the matter foundation of the and the software is the spirit of the control target of the software is to bine all the parts in optimizing style and to improve the efficiency and reliability of the control software design of the object holding manipulator control system is divided into several blocks such as 2 system initialization block, data process block and error station detect and dispose model and so card can solve the munication between the main puter and the control cells and take the measure of reducing the influence of the outer signal to the control start and stop frequency of the step motor is far lower than the maximum running order to improve the efficiency of the step motor, the increase and decrease of the speed is must considered when the step motor running in high speed and start or stop with great increase and decrease of the motor’s speed can be controlled by the pulse frequency sent to the step motor drive with a rational can be implemented either by hardware or by step motor shift control method is proposed, which is simple to calculate, easy to realize and the theory means is motor39。機(jī)器人產(chǎn)品的實(shí)用化，既解決了許多單靠人力難以解決的實(shí)際問題，又促進(jìn)了工業(yè)自動化的進(jìn)程。由于我國經(jīng)濟(jì)建設(shè)和城市化的快速發(fā)展，城市污水排放量增長很快，污水處理己經(jīng)擺在了人們的議事日程上來。塑料制品的大量需求，使得塑料制品生產(chǎn)的自動化和高效率要求成為經(jīng)濟(jì)發(fā)展的必然。采用直角坐標(biāo)和關(guān)節(jié)坐標(biāo)相結(jié)合的框架式機(jī)械結(jié)構(gòu)形式，這種方式能夠提高系統(tǒng)的穩(wěn)定性和操作靈活性。機(jī)械手驅(qū)動系統(tǒng)的設(shè)計(jì)往往受到作業(yè)環(huán)境條件的限制，同時(shí)也要考慮價(jià)格因素的影響以及能夠達(dá)到的技術(shù)水平。在完成機(jī)械結(jié)構(gòu)和驅(qū)動系統(tǒng)設(shè)計(jì)的基礎(chǔ)上，對物料抓取機(jī)械手運(yùn)動學(xué)和動力學(xué)進(jìn)行了分析。機(jī)器人動力學(xué)是研究物體的運(yùn)動和作用力之間的關(guān)系的科學(xué)，研究的目的是為了4 滿足是實(shí)時(shí)性控制的需要，本文采用牛頓歐拉方法對物料抓取機(jī)械手動力學(xué)進(jìn)行了分析，計(jì)算出了關(guān)節(jié)力和關(guān)節(jié)力矩，為步進(jìn)電機(jī)的選型和動力學(xué)分析與結(jié)構(gòu)優(yōu)化提供理論依據(jù)。在控制主機(jī)的選用上，采用結(jié)構(gòu)緊湊、擴(kuò)展功能強(qiáng)和可靠性高的PC工業(yè)控制計(jì)算機(jī)作為主機(jī)，配以PCL839卡主要承擔(dān)系統(tǒng)功能初始化、數(shù)據(jù)運(yùn)算與處理、步進(jìn)電機(jī)驅(qū)動以及故障診斷等功能。硬件是整個(gè)控制系統(tǒng)以及極限位置功能賴以存在的物質(zhì)基礎(chǔ)，軟件則是計(jì)算機(jī)控制系統(tǒng)的神經(jīng)中樞，軟件設(shè)計(jì)的目的是以最優(yōu)的方式將各部分功能有機(jī)的結(jié)合起來，使系統(tǒng)具有較高的運(yùn)行效率和較強(qiáng)的可靠性。主控計(jì)算機(jī)和各控制單元之間全部由PCL839卡聯(lián)系，并且由該卡實(shí)現(xiàn)抗干擾等問題，減少外部信號對系統(tǒng)的影響。電機(jī)的升降速控制可以歸結(jié)為以某種合理的力一式控制發(fā)送到步進(jìn)電機(jī)驅(qū)動器的脈沖頻率，這可由硬件實(shí)現(xiàn)，也可由軟件方法來實(shí)現(xiàn)。該方法能使步進(jìn)電機(jī)加速度與其力矩——頻率曲線較好地?cái)M合，從而提高變速效率。通過實(shí)驗(yàn)證明了該方法的有效性。第三篇：機(jī)器人算法外文翻譯Improved Genetic Algorithm and Its Performance AnalysisAbstract: Although genetic algorithm has bee very famous with its global searching, parallel puting, better robustness, and not needing differential information during , it also has some demerits, such as slow convergence this paper, based on several general theorems, an improved genetic algorithm using variant chromosome length and probability of crossover and mutation is proposed, and its main idea is as follows : at the beginning of evolution, our solution with shorter length chromosome and higher probability of crossover and mutation。and vice , crossover probability is in direct proportion to searching Theorem 4, changing the length of chromosome does not affect searching step of mutation, while mutation probability is also in direct proportion to searching the beginning of evolution, shorter length chromosome(can be too shorter, otherwise it is harmful to population diversity)and higher probability of crossover and mutation increases searching step, which can carry out greater domain searching, and avoid falling into local at the vicinity of global optimum, longer length chromosome and lower probability of crossover and mutation will decrease searching step, and longer length chromosome also improves resolution of mutation, which avoid wande